A modular CPS architecture design based on ROS and Docker
Tóm tắt
In this paper a modular generic architecture for cyber-physical systems based on free open software components is presented. The architecture is implemented over inexpensive components frequently found in information and communication technology contexts. More specifically, the robot operating system middleware abstracts communication among multiple networked modules, whereas the Docker lightweight virtualization container is proposed to wrap up software modules. Focus is on mobile robotics in production systems and industrial automation environments. Actually, an automated guided vehicle problem is demonstrated by means of a proof of concept aimed at industrial automation applications illustrating the potential of the proposed architecture and its implementation, built with low cost hardware modules.
Tài liệu tham khảo
Park, Sunyoung, Tek-Jin, Nam: Product-personification method for generating interaction ideas. Int. J. Interact. Design Manuf. 2015(9), 97–105 (2015). doi:10.1007/s12008-013-0196-x
The President’s Council of Advisors on Science and Technology, Report to the President and Congress Designing a Digital Future: Federally Funded Research and Development in Networking and Information Technology. https://www.whitehouse.gov/sites/default/files/microsites/ostp/pcast-nitrd-report-2010.pdf. Accessed Dec 2010
National Science Foundation Program Solicitation. http://www.nsf.gov/pubs/2008/nsf08611/nsf08611.pdf. Solicitation 16–549, February 2009
Wolf, W.: Cyber-physical Systems. Computer 42(3), 88–89 (2009). doi:10.1109/MC.2009.81
Khaitan, S.K., McCalley, J.D.: Design techniques and applications of cyber physical systems: a survey. IEEE Syst. J. 9(2), 350–365 (2014). doi:10.1109/JSYST.2014.2322503
Etxeberria-Agiriano, I., Calvo, I., Noguero, A., Zulueta, E.: Towards middleware-based cooperation topologies for the next generation of CPS. Int. J. Online Eng. 8(Special Issue 2), 20–27 (2012)
Rajkumar, R., Lee, I., Sha, L., Stankovic J.: Cyber-physical systems: the next computing revolution. 2010 47th ACM/IEEE Design Automation Conference (DAC), pp. 731–736 (2010)
Sauter, T., Soucek, S., Kastner, W., Dietrich, D.: The evolution of factory and building automation. IEEE Ind. Electron. Mag. (2011)
Gay, J (ed.) Free Software, Free Society. Selected Essays of Richard M. Stallman, GNU Press, Free Software Foundation, Boston, MA, USA (ISBN 978-0-9831592-0-9) (2002)
Bruyninckx, H.: Robotics software: the future should be open [position]. IEEE Robot. Autom. Mag. 15(1), 9–11 (2008)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. ICRA Workshop Open Source Softw 3(3.2), 5 (2009)
Staranowicz, A., Mariottini, G.L.: A survey and comparison of commercial and open-source robotic simulator software. ACM Int. Conf. Proc. Ser. art. no. 56 (2011)
Silva, M., Garrote, L., Moita, F., Martins, M., Nunes, U.: Autonomous electric vehicle: steering and path-following control systems. 16th IEEE Mediterranean Electrotechnical Conference (MELECON), pp. 442–445 (2012)
Pérez, J., Sales, J., Peñalver, A., Fernández, J.J., Sanz, P.J., García, J.C., Martí, J.V., Marín, R., Fornas, D.: Robotic manipulation within the underwater mission planning con-text. In: Carbone, G., Gomez-Bravo, F. (eds.) Motion and Operation Planning of Robotic Systems, vol. 29, pp. 495–522. Springer, Cham (2015)
Jason, M., O’Kane, A.: Gentle Introduction to ROS, p. 162. CreateSpace Independent Publishing Platform (2013)
Joseph, L.: Mastering ROS for robotics programming. Design, build and simulate complex robots using robot operating system and master its out-of-the-box functionalities. Chapter 11: ROS for Industrial Robots. Packt Publishing (2015)
Matthias, K., Kane, S.P.: Docker: Up & Running. O’Reilly Media, Sebastopol (2015)
Turnbull, J.: The Docker Book: Containerization is the New Virtualization, p. 258. http://dockerbook.com (2016)
Scott, G.: Securing Docker. Packt Publishing, Birmingham (2016)
Shake, C.M., Saulnier, K., Bevilacqua, R.: Spacecraft attitude determination system using nano-optical devices and Linux software libraries. J. Aerosp. Inf. Syst. 10(8), 369–384 (2013). doi:10.2514/1.I010049
McManus, S., Cook, M.: Raspberry Pi for Dummies. Wiley, Hoboken (2013)
Richardson, M., Wallace, S.: Getting Started with Raspberry Pi. O’Reilly Media, Sebastopol (2012)
Upton, Eben, Halfacree, Gareth: Raspberry Pi User Guide. Wiley, New York (2014)
Margolis, Michael: Arduino Cookbook. O’Reilly Media, Sebastopol (2011)
Harrington, W.: Learning Raspbian. Packt Publishing, Birmingham (2015)
Kuang, Y.: Communication between PLC and Arduino based on Modbus protocol. In: Fourth IEEE International Conference on Instrumentation and Measurement, Computer, Communication and Control (2014)
González-Nalda, P., Etxeberria-Agiriano, I., Calvo, I.: Towards a generic architecture for building modular CPS as applied to mobile robotics. Int. J. Online Eng. (iJOE) 12(1), 4–8 (2016)
Bruzzone, G., Caccia, M., Ravera, G., Bertone, A.: Standard Linux for embedded real-time robotics and manufacturing control systems. Robot. Comput. Integr. Manufact. 25, 178–190 (2009)