OKGems: GENI-Federated Multimodal Cyber-Physical System

PIs: Xiaolin (Andy) Li, Nazanin Rahnavard, Weihua Sheng, Venkatesh Sarangan, Johnson Thomas

Students: Han Zhao, Xinxin Liu, Praveen Khethavath, Li Yu, Nhat Nguyen

Computer Science DepartmentSchool of Electrical and Computer Engineering

Oklahoma State University

Current Status - HardwareDedicated lab space About 100 sensor nodes (mainly Telosb and

Micaz)About 20 robots

Current Status - ORCAInstalled and configured ORCA (Anacortes

1.2) in local environment successfully. Built one ORCA local master and one node

agent for initial testing.

Current Status - KanseiGenieSet up a small set of lab sensor nodes into

the KanseiGenie framework. Customized the KanseiGenie web portal.

Current Status – Robotics VLab

A client session, control a robotic arm for arranging an alphabetical pattern

Year One Plan IDesign and develop drivers for our resource

aggregates (PCs and sensors) using ORCA Bella 2.0.

Set up VLAN to stitch distributed resources together.

Deploy field sensor nodes and integrate them into the OKGems framework.

Further design OKGems portalGive a demo in GEC 8

Year One Plan IIModify existing plugins and develop new

plugins for ORCA, i.e., plugins of scheduling policies.

Develop spatial-temporal slivers of sensor nodes/networks through TinyHive virtual machine and TinyBee mobile agent. (to be fully completed in Year Two)

Define programmable abstractions in finer granularity

Year one Plan IIIDraft a system design to include robotsDefine initial programmable abstractions of

actuators and effectorsRemotely control robots over networks (LAN

& WAN)

Year Two Plan

Optimize real-time control for robotsDesign streaming video services for tracking

robotsDesign interface between robots and sensor

networksDesign aggregate driver for sliceable robot

groups

Year Three Plan Refactor and RedesignEvaluation and Documentation

Questions?