• concept of cloud computing dates back to the 1960s, toJohn McCarthy.• The term "cloud" is used as a metaphor for the InternetCloud computingUsing multiple servercomputersvia a digital network,as though they were oneComputer.the services availableare considered part of cloud.
Cloud Provides..• Device and location independence• Significant workload shift from the local computers• Sharing of resources and costs across a large poolof users• High reliability and efficiency.• Improved security due to centralization of data• Easiness in supporting and improving a software• Scalable - dynamic provisioning of resources
ROS (Robotic Operating System)• Software framework for robotsoftware development.• Developed in 2007 under thename switchyard by theStanford Artificial IntelligenceLaboratory in support of the STAIR.• Based on graph architecture & is geared toward aUnix-like system.
ROS is…• Peer-to-peer• Multi-lingual• Tools-based• Thin• Free and Open-Source• Exponentially growing• Used in many applications
What Robots can do if connected toCloud ???UnderstandReceive Share& React
MESSAGING MECHANISMPublication SubscriptionService Invocation• The ROS platform is used as framework for ourrobotic environment.• ROS provides flexible modular communication mechanismfor exchanging messages between nodes• Nodes are processes running on robots.TOPICNODE NODE
Robot Cloud Centre(RCC)• In RCC system, each robot plays the role of a typicalcloud resource.• All the robots form a robot cloud-providing services toexternal service consumers.Features• Compatibility• Reusability• Extensibility• Easy update
• ARCHITECTURE• End users access system by “Robot Cloud Panel”.• They request and obtain the service from the robots• The “Service Broker” provides web user- interface and webservices interface.• “Mapping Layer” and the “Robot Cloud Units” are designed asback- end systems.
Robot cloud units : communicate with other parts of the system, andalso required to interact with each other.• Infrastructure is composed of the hardware devices of robot and theoperating system and device drivers..• WSDL Interface Robots must interact with other parts of the system,or interact with other robots, and we use web services as thecommunication interface.Robot Cloud Panel : core of the whole system , plays a role of modeling,assembling, deploying , managing, and analyzing the roboticsapplications.Service Broker : provides Basic Hardware Services”, “ApplicationServices” and “Common Services”.Mapping Layer : To make system more flexible, the architecture of thissystem employs a layered structure.
High Level OverviewJobs & ServerSensor data ClusterROS ROS MessagesMessages over HttpPrivate Cloud ROS Messages(Intranet) over HttpCloud Computing FrameworkROSFrameworkPublic Cloud(Internet)
Why should we use Cloud Robotics ???• offloads the heavy computingtasks to the cloud• Lower the barrier to entryfor robotics• Scalable CPU, memory, and storage• shared knowledge database• hardware upgrades are invisible &hassle-free• Longer battery life
lighter, easier-to-maintain hardwareRobot experiences / history /behavior outcomes /learned skills can all bepublished or data minedExpanding the knowledgebeyond “Physical Body”
Needs Improvisation• Cloud Robotics is still taking baby steps, so willhave to wait for the platforms to develop.• cloud-based applications can get slow or simplybecome unavailable leaving the robot “Brainless”.• Tasks that involve real-time execution requireonboard processing.
Implementations till now..●RoboEarth - to develop a “World Wide Web forrobots”●ASORO’s Cloud Computing Infrastructure●Google’s initiative withAndroid●Nao Humanoid Robots●Google’s street View Robot●DAviCi framework●Project Phondox●Turtlebot from google