04-02-2013, 01:05 PM
A Cloud Computing Environment for Supporting Networked Robotics Applications
A Cloud Computing.ppt (Size: 1.45 MB / Downloads: 77)
Introduction
The motivation for networked robotics is the availability of network technologies that allow robots to take part of comprehensive networking environments aggregating
processors,
environmental sensors,
mobile and stationary robots,
wireless gadgets,
other networked devices.
REALabs is a platform for networked robotics developed by the authors and reported in [1].
Its architecture has four main software packages as shown in Fig 1.
REALabs Platform
The Embedded package consists of HTTP microservers able to run on the robots’ on-board processors with limited processing power
The Protocol Handler package intercepts all HTTP requests targeted to the robots and performs functions
i.e security checks, HTTP proxying, and network address translations
Goal
Our main focus in this work is to describe our architecture to perform robotic experiments in clouds.
As an additional contribution, our approach extends the functionalities of Java Commodity Grid (CoG) Kit Karajan
We use this workflow tool as a Web workflow to schedule and map tasks according to QoS features.
A Cloud Computing Environment
In the case of REALabs, virtualization helps to bring the applications close to the robots they operate to reduce network delays and provide ample processing power
A user can own his/her own VMs with the proper OS plus the network robotics software necessary for developing and running the applications
Architecture must be designed to offer a virtualized environment where the distributed robotic applications run as opposed to overriding system software.
Session Validation Service
The SVS assigns VM privileges to users holding valid access sessions.
Same protection as the Protocol Handler package (still needed for accessing outside networks)
As users create sessions, they register session IDs on a Web interface provided by the SVS
The SVS then queries the REALabs access service to check if the session ID is valid
If the ID is valid, the SVS:
increases the resources for that VM and
configures the VM host’s firewall to open the resource’s access for the traffic orginating at the VM
The SVS also handles reclaiming resources as sessions terminate and re-enabling firewalls
Workflow Management System
The Workflow Management System architecture was a concept in layered design patterns, in which services are grouped in layers, and the lower management layers provide services to higher management layers.
Was developed to attend to the scheduling requirements of distributed services for several VMs within this specific cloud domain
The infrastructure maintains QoS dependencies to cloud services by submitting tasks in XML documents along with the presented workflow language.
Each task incorporates optional QoS arguments that are mapped to classes of constraints
Each task is defined in an XML namespace that admits other customized tasks
Global QoS constraints are defined as tasks in the namespace
Local QoS constraints overwrite global values when specified
Each VM uses an extended OVF (Open Virtualization Format) to dynamically track the many parameters of the current state