scholarly journals A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

Robotics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 17
Author(s):  
Alessandra Sorrentino ◽  
Filippo Cavallo ◽  
Laura Fiorini
Keyword(s):  
Open Loop ◽  
Cloud Services ◽  
High Rate ◽  
Effective Control ◽  
Plug And Play ◽  
Cloud Robotics ◽  
First Case ◽  
Communication Layer ◽  
Spiral Trajectories ◽  
Networking Protocols

The cloud robotics paradigm aims at enhancing the abilities of robots by using cloud services, but it still poses several challenges in the research community. Most of the current literature focuses on how to enrich specific robotic capabilities, overlooking how to effectively establish communication between the two fields. Our work proposes a “plug-and-play” solution to bridge the communication gap between cloud and robotic applications. The proposed solution is designed based on the mature WebSocket technology and it can be extended to any ROS-based robotic platform. The main contributions of this work are the definition of a reliable autoconnection/autoconfiguration mechanism as well as to outline a scalable communication layer that allows the effective control of multiple robots from multiple users. The “plug-and-play” solution was evaluated in both simulated and real scenarios. In the first case, the presence of users and robots was simulated with Robot Operating System (ROS) nodes running on five machines. In the real scenario, three non-expert users teleoperated, simultaneously, three remote robots by using the proposed communication layer with different networking protocols. Results confirmed the reliability at different levels: at startup (success_rate = 100%); during high-rate communications (message_lost = 0%); in performing open-loop spiral trajectories with enhancement, with respect to similar works; and in the quality of simultaneous teleoperations.

scholarly journals Networking for Cloud Robotics: The DewROS Platform and Its Application

2021 ◽  
Vol 10 (2) ◽  
pp. 34
Author(s):  
Alessio Botta ◽  
Jonathan Cacace ◽  
Riccardo De Vivo ◽  
Bruno Siciliano ◽  
Giorgio Ventre
Keyword(s):  
Response Time ◽  
Large Data ◽  
Cloud Services ◽  
Cloud Provider ◽  
Human Beings ◽  
Minimal Impact ◽  
Network Connection ◽  
Cloud Robotics ◽  
Networking Technologies ◽  
The Impact

With the advances in networking technologies, robots can use the almost unlimited resources of large data centers, overcoming the severe limitations imposed by onboard resources: this is the vision of Cloud Robotics. In this context, we present DewROS, a framework based on the Robot Operating System (ROS) which embodies the three-layer, Dew-Robotics architecture, where computation and storage can be distributed among the robot, the network devices close to it, and the Cloud. After presenting the design and implementation of DewROS, we show its application in a real use-case called SHERPA, which foresees a mixed ground and aerial robotic platform for search and rescue in an alpine environment. We used DewROS to analyze the video acquired by the drones in the Cloud and quickly spot signs of human beings in danger. We perform a wide experimental evaluation using different network technologies and Cloud services from Google and Amazon. We evaluated the impact of several variables on the performance of the system. Our results show that, for example, the video length has a minimal impact on the response time with respect to the video size. In addition, we show that the response time depends on the Round Trip Time (RTT) of the network connection when the video is already loaded into the Cloud provider side. Finally, we present a model of the annotation time that considers the RTT of the connection used to reach the Cloud, discussing results and insights into how to improve current Cloud Robotics applications.

scholarly journals Diagnosis of Neonatal Herpes Simplex Infection from the Placenta

2020 ◽  
Vol 2020 ◽  
pp. 1-4
Author(s):  
Amanda E. Smith ◽  
Amy McKenney ◽  
Laura Rabinowitz ◽  
Anirudha Das
Keyword(s):  
Herpes Simplex ◽  
Intrauterine Infection ◽  
High Rate ◽  
Pathological Examination ◽  
Neonatal Herpes ◽  
Fetal Demise ◽  
First Case ◽  
Simplex Infection ◽  
Neonatal Herpes Simplex ◽  
Simplex Virus

Due to a high rate of fetal demise and premature birth in intrauterine HSV infection, the outcome in neonates is usually adverse. A female preterm infant with a gestational age of 25 1/7 weeks with expected early clinical course tested positive for neonatal herpes simplex virus (HSV) 2 after the neonatologist was informed of positive immunohistochemistry for the virus on the fifth day of life by the pathologist. Pathological examination of the placenta had revealed subacute necrotizing inflammation with stromal cell necrosis suggestive of intrauterine infection, possibly ascending due to prolonged rupture of membranes. To the best of our knowledge, this is the first case wherein placental pathology indicated exposure to HSV in utero before the infant presented with signs or symptoms of neonatal HSV resulting in a favorable outcome for the infant. Due to the variability of presentation of intrauterine HSV infection, pathological examination of the placenta in the first 2–5 days of life in premature infants can provide clues to the diagnosis of neonatal HSV which may significantly impact the outcome.

Cloud Robotics

2020 ◽  
pp. 2027-2040
Author(s):  
K. Saravanan
Keyword(s):  
High Speed ◽  
Cloud Services ◽  
Cloud Robotics ◽  
Robot Intelligence ◽  
Future Challenges ◽  
Complete Study ◽  
5G Technologies ◽  
Cloud Technologies ◽  
And Storage ◽  
Robotic Evolution

Cloud robotics is an emerging field which enables the web enabled robots to access the cloud services on the fly. Cloud Robotics was born by merging robotics with the cloud technologies. The robot intelligence is no more in the robot itself but remotely executed on the cloud. Robot acts as thin-client. There are several frameworks already in development and still growing. With the help of high speed networks using 4G/5G technologies, offloading of computation and storage in cloud is the further step in robotic evolution. This chapter deals the exploration of cloud robotics with its architecture, applications and existing frameworks. Also, existing research carried out is summarized in this chapter. The future challenges are discussed to foresee the opportunities in cloud robotics. It aims for the complete study on how robots leverages the cloud computing.

Active Control of Combustion Instabilities in a Matrix Burner Using Primary and Pilot Fuel and Acoustic Forcing

2010 ◽  
Author(s):  
Dieter Bohn ◽  
Nils Ohlendorf ◽  
Frank Weidner ◽  
James F. Willie
Keyword(s):  
Heat Release ◽  
Mass Flow ◽  
Gas Turbines ◽  
Open Loop ◽  
Nox Emissions ◽  
Combustion Instabilities ◽  
Loop Control ◽  
First Case ◽  
Pilot Fuel ◽  
Acoustic Forcing

Lean premixed flames applied in modern gas turbines leads to reduce NOx emissions, but at the same time they are more susceptible to combustion instabilities than diffusion flames. These oscillations cause pressure fluctuations with high amplitudes and unacceptable noise as well as the risk of component or even engine failure. They can lead to pockets of fuel being formed in the mixing chamber and to bad mixing, which leads to increase in emissions. This paper reports the successful decoupling of the pressure and heat release inside the combustion chamber of a matrix burner using two actuation techniques. This led to the successful attenuation of the dominant instability modes occurring inside the combustor of the matrix burner. In the first case, acoustic forcing was used to decouple the pressure and the heat release inside the combustor. This was achieved by using a loudspeaker to modulate the primary air mass flow. This was followed by using acoustic forcing in CFD to decouple the pressure and heat release inside the combustor. For the action of the loudspeaker, sinusoidal forcing was used to mimic the modulation action of the diaphragm of the loudspeaker. In the second case, a fast gaseous “on-off” injector was used to modulate the primary fuel mass flow. After this, pilot fuel modulation was used to stabilize the flame. The control law governing the primary and pilot fuel modulation is discussed in details. The effect of open loop control on NOx emissions in the burner is also reported and discussed.

Fault detection and tolerance in synchronous vibration control of rotor—magnetic bearing systems

2001 ◽  
Vol 215 (12) ◽  
pp. 1401-1416 ◽  
Author(s):  
M N Sahinkaya ◽  
M O T Cole ◽  
C R Burrows
Keyword(s):  
Vibration Control ◽  
Magnetic Bearing ◽  
Open Loop ◽  
Magnetic Bearings ◽  
Control Technique ◽  
Effective Control ◽  
System Response ◽  
Rotor Support ◽  
Measured System ◽  
Control Forces

The use of magnetic bearings in rotating machinery provides contact-free rotor support, and allows vibration control using both closed-loop and open-loop strategies. One of the simplest and most effective methods to reduce synchronous lateral vibration when using magnetic bearings is through an open-loop adaptive control technique, in which the amplitude and phase of synchronous magnetic control forces are adjusted automatically to minimize the measured vibrations along the rotor. However, transducer malfunction, or faults in the signal-processing channels, may cause the controller to adapt incorrectly, with unwanted and possibly catastrophic effects. It is shown that an extension to the control strategy, which utilizes the variances of the measured system response and identified parameters, enables the faults to be detected and accounted for so that a modified control action can achieve continued and effective control of the synchronous vibration. The approach is extended further to identify changes in external factors, such as unbalance and rotor dynamics. Various faults and perturbations are examined experimentally, and the ability of the controller to detect and compensate for these changes is demonstrated.

Development of an Efficient Procedure for Sustainable Low Carbon Cement Manufacturing Process

2015 ◽  
Vol 787 ◽  
pp. 142-146
Author(s):  
Siva Teja Chopperla ◽  
Rajeswari Jupalli ◽  
Deepak Kanraj ◽  
A. Bahurudeen ◽  
M.K. Haneefa ◽  
...  
Keyword(s):  
Carbon Dioxide ◽  
Energy Consumption ◽  
Manufacturing Process ◽  
Carbon Dioxide Emissions ◽  
Cement Industry ◽  
High Rate ◽  
Effective Control ◽  
Low Carbon ◽  
Efficient Procedure ◽  
Cement Manufacturing

The consumption of Portland cement for the production of concrete is rapidly increasing because of the remarkable growth in the construction worldwide. Cement production is an energy intensive process. The energy consumption by the cement industry is estimated to be about 5% of the total global industrial energy consumption. Manufacturing process of cement consumes enormous quantities of raw materials from limited natural resources at a high rate and leads to their depletion. Due to the dominant use of carbon intensive fuels such as coal, the cement industry is a major emitter of carbon dioxide and other air pollutants. The cement industry contributes about 6 % of global carbon dioxide emissions which is the primary source of global warming. In addition to carbon dioxide emissions, significant amount of nitrogen oxides, sulphur dioxide, carbon monoxide, hydrocarbons and volatile organic compounds are emitted during cement manufacturing and causes severe environmental issues. In this regard, effective control techniques for reduction in carbon dioxide emissions from modern cement industry and an efficient procedure to achieve sustainable cement manufacturing process are discussed in this paper.

scholarly journals Impacted canine and ossifying fibroma: case report and literature review

2019 ◽  
Vol 25 (4) ◽  
pp. 37
Author(s):  
Mélanie Le Donne ◽  
Océane Abattu ◽  
Claire Pernier ◽  
Emeline Durieux ◽  
Anne-Gaëlle Bodard
Keyword(s):  
Literature Review ◽  
Benign Lesion ◽  
Ground Glass Opacity ◽  
Permanent Tooth ◽  
High Rate ◽  
Ossifying Fibroma ◽  
Impacted Tooth ◽  
First Case ◽  
Tooth Impaction ◽  
Impacted Canine

Introduction: An impacted tooth is a permanent tooth that has a completely developed root but which has failed to erupt. Many etiologies can lead to impaction, including a mechanical obstacle, such as benign tumor. Observation: An 11-year-old girl was referred for the avulsion of the left mandibular permanent canine, which was impacted. A radiolucent lesion with ground glass opacity was found on the eruption pathway of the tooth. Anterior radiographs showed the lesion that seemed to be the cause of the impacted canine. Anatomopathological examination revealed the lesion to be a juvenile trabecular ossifying fibroma. Comments: Ossifying fibromas are rare jaw tumors. They can be of various types: ossifying fibroma, psammomatoid, or trabecular juvenile ossifying fibroma. This is the first case that clearly shows the association between ossifying fibroma and tooth impaction. A literature review of ossifying fibromas and the management of fibro-osseous benign lesions of the jaws was performed. Conclusion: Although benign, juvenile trabecular ossifying fibroma can be locally aggressive and has a high rate of recurrence. It is very important to establish a precise diagnosis of a fibro-osseous benign lesion of the jaws to plan optimal management.

scholarly journals Community-level SARS-CoV-2 Seroprevalence Survey in urban slum dwellers of Buenos Aires City, Argentina: a participatory research.

2020 ◽  
Author(s):  
Silvana Figar ◽  
Vanina Pagotto ◽  
Lorena Luna ◽  
Julieta Salto ◽  
Magdalena Wagner Manslau ◽  
...  
Keyword(s):  
Buenos Aires ◽  
Urban Slum ◽  
High Rate ◽  
Risk Of Infection ◽  
High Seroprevalence ◽  
Cross Sectional ◽  
Viral Spread ◽  
Population Immunity ◽  
First Case ◽  
Buenos Aires City

Background By July 1st, the incidence rate of RT-qPCR SARS-CoV-2 infection was 5.9% in Barrio Padre Mugica, one of the largest slums in Buenos Aires City. This study aimed to establish the seroprevalence of SARS-CoV-2 three months after the first case was reported. Methods Between June 10th and July 1st, a cross-sectional design was carried out on people over 14 years old, selected from a probabilistic sample of households. A finger prick sample was tested by ELISA to detect IgG-class antibodies against SARS-CoV-2. Multilevel model was applied to understand sector, household and individual conditions associated with seroconvert. Results Prevalence based on IgG was 53.4% (95%IC 52.8% to 54.1%). Among the IgG positive cases, 15% reported having compatible symptoms at some point in the past two months. There is evidence of within-household clustering effect (rho=0.52; 95% IC 0.36-0.67); living with a PCR-confirmed case doubled the chance of being SARS-CoV2 IgG positive (OR 2.13; 95% IC 1.17-3.85). The highest risk of infection was found in one of the most deprived areas of the slum, the Bajo autopista sector. Discussion High seroprevalence is shown, for each symptomatic RT-qPCR-confirmed diagnosis, 9 people were IgG positive, indicating a high rate of undetected (probable asymptomatic) infections. Given that transmission among family members is a leading driver of the disease`s spread, it is unsurprising that crowded housing situations in slums are directly associated with higher risk of infection and consequently high seroprevalence levels. This study contributes to the understanding of population immunity against SARS-CoV2, its relation to living conditions and viral spread, for future decision making.

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