Welcome
CLOUD ROBOTICS WITH
ROS ( ROBOTIC OPERATING SYSTEM )
Titto Thomas Roll No.47 S7 A College of Engineering, Chengannur
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 ways
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Where do we stand ?
College of Engineering Chengannur
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 well 2
ROS (Robotic Operating System )
College of Engineering Chengannur
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
Doesn't have to ”reinvent the wheel ”
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ROS is..
Peer-to-peer
Multi-lingual
Tools-based
Thin
Free and OpenSource
Exponentially growing Used in many applications including Willow Garage’s PR2, Aldebaran’s Nao and Shadow’s robotic hand
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Cloud Computing
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Using multiple server computers via a digital network, as though they were one computer the services available are considered part of cloud
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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 resources
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ROS in the Cloud
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High Level Overview Server Cluster
Computer jobs & sensor data
Cloud Computing Framework Ros Messages
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Public Cloud (Internet) ROS Messages over http
ROS Framework
Private Cloud (Intranet)
ROS Messages over http
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Architechture In Layers Storage / Compute Nodes Distributed File System and necessary services
Cloud Framework Master & Subscriber Nodes ROS Nodes
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ROS Messaging
Example Publication
Topic
Node
Subscription
Node
Service Invocation College of Engineering Chengannur
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Cloud Enabled Robots Can..
Understand
Perceive
Share
& REACT College of Engineering Chengannur
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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 life
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lighter, easier-tomaintain hardware (akin to desktop PC vs. a thinclient “netbook”) Robot experiences / history / behavior outcomes / learned skills can all be published or data mined Expanding the knowledge beyond “Physical Body”
Cheaper , Lighter & Smarter College of Engineering Chengannur
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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 processing
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Implementations till now.. ●
RoboEarth - to develop a “World Wide Web for robots”
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ASORO’s Cloud Computing Infrastructure
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Google’s initiative with Android
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Nao Humanoid Robots
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Google’s street View Robot
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DAviCi framework
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Project Phondox
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Turtlebot from google
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Check it out..
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THANK YOU..!!
ANY QUESTIONS ??