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•
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IoT
Devices
Robot
App
Robot
App
Cloud
IoT
Devices
Robots
App App
App App
App
App
Common Base Architecture for Everyone
What’s the problem?
• Different Architecture for Cloud and Edge device.
• Take time to setup environment and run application.
• IoT Device is really statistic implementation.
What we wanna do?
• Common Base Architecture for everyone.
• During Development, we can test every service on
single device.
• More Flexibility for Application. More like EcoSystem.
Cloud
Robots
Cloud
App
Cloud
App
Sensor
App
Sensor
App
Edge Node
Application
Container
System
Ext APIs
Application
System
Services
Kernel & Drivers
Output
Edge Node
Kernel & Drivers
Edge Cluster Network
(Slave Cluster)
EdgeCluster
Master
Capabilities
NodeController
NodeController
Application
Container
System
Ext APIs
Application
System
Services
Output
Capabilities
Cloud Cluster Network
(Host Cluster)
Federation
Cloud Node
Application
Container
Application
NodeController
Kernel & Drivers
GPUAccess
Cloud Node
Application
Container
Application
NodeController
Kernel & Drivers
GPUAccess
CloudCluster
Master
x86 arm64
Accelerator
Accelerator
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⚫ Discovery / Available vendor hardware and devices.
⚫ No Kubernetes code changed, flexibility to extend.
⚫ Participant into k8s cluster system with device specification.
Master Slave
Scheduler
kubeletAPI server
Device Plugin
(DaemonSets Preferred)
K8s system components
Vendor components
GPU
GPU
GPU
GPU
Application
Pods
ExtendResource
Vendor.com/gpus
List/Watch/Allocate
1. Advertise
2. Registration
4. Request
3. Pod Create
5. Allocate
6. Mount
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•
•
Node
Application Pod
Host API
Binding
Sony
Container
Runtime
System
Services
Kernel & Drivers
HostAPI
Edge Cluster Network
(Slave Cluster)
EdgeCluster
Master
Capabilities
NodeController
x86
Sony
Container
Runtime
Permission
Security
Application Application
Node
Application Pod
Host API
Binding
Sony
Container
Runtime
System
Services
Kernel & Drivers
HostAPI
Capabilities
NodeController
Sony
Container
Runtime
Permission
Security
Application Application
Node
Application Pod
Host API
Binding
Sony
Container
Runtime
System
Services
Kernel & Drivers
HostAPI
Capabilities
NodeController
Sony
Container
Runtime
Permission
Security
Application Application
arm64 arm64
Distributed System
Access/Capability Management
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Cloud Network Edge Network
Discovery
Undiscovery
Orchestration
Robustness
Fault Tolerant
⚫
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Situation#2
Situation#1
Cluster Master
Different Situation,
Different Environment
to
Different Application
App
Pod
App
Pod
Request Application
Deployment
App
Pod
App
Pod

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ROS/ROS2 Distributed System with Kubernetes

  • 1.
  • 4.
  • 5.
  • 6.
  • 7.
  • 9. IoT Devices Robot App Robot App Cloud IoT Devices Robots App App App App App App Common Base Architecture for Everyone What’s the problem? • Different Architecture for Cloud and Edge device. • Take time to setup environment and run application. • IoT Device is really statistic implementation. What we wanna do? • Common Base Architecture for everyone. • During Development, we can test every service on single device. • More Flexibility for Application. More like EcoSystem. Cloud Robots Cloud App Cloud App Sensor App Sensor App
  • 10. Edge Node Application Container System Ext APIs Application System Services Kernel & Drivers Output Edge Node Kernel & Drivers Edge Cluster Network (Slave Cluster) EdgeCluster Master Capabilities NodeController NodeController Application Container System Ext APIs Application System Services Output Capabilities Cloud Cluster Network (Host Cluster) Federation Cloud Node Application Container Application NodeController Kernel & Drivers GPUAccess Cloud Node Application Container Application NodeController Kernel & Drivers GPUAccess CloudCluster Master x86 arm64 Accelerator Accelerator
  • 14. ⚫ Discovery / Available vendor hardware and devices. ⚫ No Kubernetes code changed, flexibility to extend. ⚫ Participant into k8s cluster system with device specification. Master Slave Scheduler kubeletAPI server Device Plugin (DaemonSets Preferred) K8s system components Vendor components GPU GPU GPU GPU Application Pods ExtendResource Vendor.com/gpus List/Watch/Allocate 1. Advertise 2. Registration 4. Request 3. Pod Create 5. Allocate 6. Mount
  • 16. Node Application Pod Host API Binding Sony Container Runtime System Services Kernel & Drivers HostAPI Edge Cluster Network (Slave Cluster) EdgeCluster Master Capabilities NodeController x86 Sony Container Runtime Permission Security Application Application Node Application Pod Host API Binding Sony Container Runtime System Services Kernel & Drivers HostAPI Capabilities NodeController Sony Container Runtime Permission Security Application Application Node Application Pod Host API Binding Sony Container Runtime System Services Kernel & Drivers HostAPI Capabilities NodeController Sony Container Runtime Permission Security Application Application arm64 arm64 Distributed System Access/Capability Management
  • 17. ⚫ ⚫ ⚫ Cloud Network Edge Network Discovery Undiscovery Orchestration Robustness Fault Tolerant
  • 18. ⚫ ⚫ Situation#2 Situation#1 Cluster Master Different Situation, Different Environment to Different Application App Pod App Pod Request Application Deployment App Pod App Pod