Term of Award

Fall 2015

Degree Name

Master of Science in Applied Engineering (M.S.A.E.)

Document Type and Release Option

Thesis (open access)

Copyright Statement / License for Reuse

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.

Department

Department of Mechanical Engineering

Committee Chair

Biswanath Samanta

Committee Member 1

Christopher Kadlec

Committee Member 2

Minchul Shin

Abstract

It is important in the development of cloud robotics that the challenges presented by transferring computational loads to networked resources are properly addressed. The challenges include network latency, data integrity, security, and privacy. The objective of the present work is to investigate the issues of latency and data integrity in a representative cloud robotics environment. The present work involves setting up a cloud robotics network in an open-source Robot Operating System (ROS) framework and carrying out investigations on the levels of latency and reduction in data integrity as utilization of the network increases. In this study, a virtual datacenter has been set up to provide the foundation on which to build software systems to provide cloud services. Robot Operating System (ROS) framework has been used to facilitate communication among heterogeneous systems in the network. Three types of robots, including the Parrot AR.Drone2.0, the Kobuki Turtlebot 2, and the LEGO EV3 have been implemented in the system. The system has been tested for baseline connectivity and under low- and high-bandwidth conditions to determine the latency and data integrity of the network connections. Additionally, a heterogeneous system consisting of sensor feedback from the AR.Drone2.0 and motor control of the Turtlebot 2 has been built to examine the connection between the devices themselves. Through this study, it has been demonstrated that under low-bandwidth conditions, the network performs reasonably well in the areas of latency and data integrity. However, for high-bandwidth conditions involving image transmission, the network performance deteriorates considerably, both in terms of latency and data integrity. One possible reason is the wireless router used in the current setup. It is also recommended that, especially under high-bandwidth loads, it is necessary for networked systems to perform some portion of their computations on-board and high-bandwidth wireless connectivity to the cloud is facilitated. Ongoing research and future directions are also outlined.

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