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Cloud Robotics with ROS (Robotic Operating System)

Cloud Robotics with ROS (Robotic Operating System)

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  • 1. Welcome
  • 2. CLOUD ROBOTICS WITHROS ( ROBOTIC OPERATING SYSTEM ) Titto Thomas Roll No.47 S7 A College of Engineering, Chengannur
  • 3. Robotics  Robots - mechanical intelligent agent which can perform tasks on its own, or with guidance  They can be industrial, mobile, service , humanoids..etc  Touches every instant of life in one way or the other  Robotics - deals with design, construction, operation, structural disposition, manufacture and application of robots  Dynamically growing industry and its in need of alternative and new waysCollege of Engineering Chengannur 1
  • 4. Where do we stand ?  Require great computational capabilities to be able to process – in real time – images, faces, voice, sounds, obstacles many more  Necessary to have a very powerful – and high energy consuming – processor and peripherals on board.  Necessary to carry huge and heavy batteries as wellCollege of Engineering Chengannur 2
  • 5. ROS (Robotic Operating System )  Software framework for robot software development  developed in 2007 under the name switchyard by the Stanford Artificial Intelligence Laboratory in support of the STAIR  Based on graph architecture & is geared toward a Unix-like system  Doesnt have to ”reinvent the wheel ”College of Engineering Chengannur 3
  • 6. ROS is..  Peer-to-peer  Multi-lingual  Tools-based  Thin  Free and Open- Source  Exponentially growing  Used in many applications including Willow Garage’s PR2, Aldebaran’s Nao and Shadow’s robotic handCollege of Engineering Chengannur 4
  • 7. Cloud Computing  Using multiple server computers via a digital network, as though they were one computer  the services available are considered part of cloudCollege of Engineering Chengannur 5
  • 8. Cloud Provides..  Device and location independence  Significant workload shift from the local computers  Cost is reduced as capital expenditure is converted to operational expenditure  Sharing of resources and costs across a large pool of users  Highly reliability and efficiency  Improved security due to centralization of data  Easiness in supporting and improving a software  Scalable - dynamic provisioning of resourcesCollege of Engineering Chengannur 7
  • 9. ROS in the CloudCollege of Engineering Chengannur 7
  • 10. High Level Overview Server Computer Cluster jobs & sensor data Cloud Computing Framework Ros ROS Messages Messages over http Public Cloud ROS Framework Private (Internet) Cloud (Intranet) ROS Messages over httpCollege of Engineering Chengannur 8
  • 11. Architechture In Layers Storage / Compute Nodes Distributed File System and necessary services Cloud Framework Master & Subscriber Nodes ROS NodesCollege of Engineering Chengannur 9
  • 12. ROS Messaging Example Publication Topic Subscription Node Node Service InvocationCollege of Engineering Chengannur 10
  • 13. Cloud Enabled Robots Can.. Understand Perceive Share & REACTCollege of Engineering Chengannur 11
  • 14. Why should we ??  Off the shelf hardware means affordable robots  Lower the barrier to entry for robotics  Scalable CPU, memory, and storage  shared knowledge database  hardware upgrades are invisible & hassle-free  Longer battery lifeCollege of Engineering Chengannur 12
  • 15.  lighter, easier-to- maintain hardware (akin to desktop PC vs. a thin- client “netbook”)  Robot experiences / history / behavior outcomes / learned skills can all be published or data mined  Expanding the knowledge beyond “Physical Body” Cheaper , Lighter & SmarterCollege of Engineering Chengannur 13
  • 16. Needs Improvisation  Cloud Computing is still taking baby steps, so will have to wait for the platforms to develop  cloud-based applications can get slow or simply become unavailable leaving the robot “Brainless”  Tasks that involve real-time execution require onboard processingCollege of Engineering Chengannur 14
  • 17. Implementations till now.. ● RoboEarth - to develop a “World Wide Web for robots” ● ASORO’s Cloud Computing Infrastructure ● Google’s initiative with Android ● Nao Humanoid Robots ● Google’s street View Robot ● DAviCi framework ● Project Phondox ● Turtlebot from googleCollege of Engineering Chengannur 15
  • 18. Check it out..College of Engineering Chengannur 16
  • 19. THANK YOU..!!
  • 20. ANY QUESTIONS ??