sdn and cloud robot - fiffif.kr/gfi-summit/12/mt/gfiw_mt_s_8_shinji shimojo.pdf · cloud robotics...
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SDN and Cloud Robot Shinji ShimojoNICT/Osaka U
2012.09
Smart X = cyber infrastructure
SDN meets robot
from ON DEMAND to CYBERNETICS
In house sensor
Mobile sensor heterogeneous sensor network
Wearable device
Smart X = Cyber Physical System
medical sensor
• IoT (Internet of Things)
• billions of data sources, large scale data
• mobility, charn
• feature as a group or a set
• a new form of security and privacy
Cloud
Interior Sensors
Mobile Sensors Heterogeneous Sensor Network
Wearable Device
Smart X = Cyber Physical System+SDN
Vital Sensor
Multilayer Overlay Network by SDN
Customizable Overlay Network
e-healthNew Generation
ITSSmart grid Digital
Cynage
Cloud
Cloud
• share knowlege
• share infrastructure
• get service done
Cloud robotics• ROS
• PR2, Turtlebot
• Android
http://www.willowgarage.com/
cloud robotics by James Kuffner, Google. at the IEEE International Conference on
Humanoid Robots, Dec. 2010
http://www.getrobo.com/getrobo_blog/2010/12/humanoids-2010-cloud-robotics.html
• Accumulated Knowledge
• User based Innovation
• Continuous evolution of infrastructure
• Open inovation
• Common Platform
Why Cloud robotics needs SDN
• Network Virtualization
• Software Defined Network
• ID/Locator Separation
• Contents Oriented Network
• In Network Processing
• Optical Networking
• Wireless Networking
New Generation Network Technology
A Swarm of Nano Quadrotors
Nathan Michael, Daniel Mellinger, Quentin Lindsey, and Vijay Kumar, ”The GRASP Multiple Micro UAV Testbed” Robotics & Automation Magazine, IEEE, pp. 56-65, Sept. 2010.
1KHz
100KHz
VICON
MATLAB
RC
ZigbeeDynamic Load balance between cycles
Adaptation for dramatic change of communication environment
Different type of security requirement
Communication requirement for Cloud Robotics
• flexible network service
• Dynamic change of configuration and resource allocation
• Network Virtualization
• Dramatic change of communication environment
• Cognitive wireless network、DTN
• Customized network service ntegrated with Cloud services
• SDN
• Layered Multiservice Network is a solution
Roscore
node nodenode node
scan: 33,55,scan: 33,55,
ROS framework
Roscore
node nodenode node
scan: 33,55,scan: 33,55,
Roscore
node nodenode node
scan: 33,55,scan: 33,55,
Pachube
Turtlebot in our Data center
stoker robot
Things we can do with cloud robot
• share knowledge among robots
• SLAM:Simultaneous Localization and Mapping
• AMCL:Adaptive Monte Carlo Localization
• share knowledge between robot and human
• Pachube: sensor information on the web
provide different network services in different network overlays
JGN-‐X technology layers
Network A(L1/L2)
Network B(L2/L3)
Network C(L2)
Virtual Network Integration by PseudoWire
OpenFlow
VPLS
Physical Networks
SDTN
IPv6 network
IPv4/6 translation by SA46T
IPv4 networkLayer2 with QOS
Network D(L2/L3)
DCN s3ching
RISE
Vnode DPN
Mul3layerMeasuments
#3#2#1
Aggregate
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Ongoing research project:DTN for cloud robots
Data Aggregation & Analysis
+
Commands
Sensor Data
Commands
Sensor DataSensor Data
Analyze Sensor Data
Aggregation of Sensor data
Wireless AP Area
Robot
(An example of Cloud Robot)
Sensor Data
DTN func3on on the network nodes
DTN between Robots and
Cloud
DTN between Robots
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From ON DEMAND to CYBERNETICS
Data Aggregation & Analysis
+
Commands
Sensor Data
Commands
Sensor DataSensor Data
Analyze Sensor Data
Aggregation of Sensor data
Wireless AP Area
Robot
(An example of Cloud Robot)
Sensor Data
DTN func3on on the network nodes
Multilayer Overlay Network by SDN
Customizable Overlay Network
Ongoing research project:Platform for the real-‐‑‒world analysis
CrimeStatus
NaturalDisasters
AccidentStatus
EconomicStatus
CrimePreven3on
SmartLogis3cs Observa3ons
Health cares
EnvironmentalMonitoring
DisasterManagements
Marke3ng
Analyze Sensor DataAnalyze Contents
SocialPhenomenon
New-‐genera3on ICT Services
TrafficStatus
InternetCollect Sensor Data
Collect Contents
Combine various kind of information sources
Analyze status / phenomenon in the real-world
The aim of the project is to provide a plaJorm for real-‐world analysis using various data sources such as sensors, contents of the social network services, etc.
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Global Testbed is the field
Thank you감사합니다
Presented version is here!https://sites.google.com/site/sshimojo/talks
Acknolegement
• Yuichi Teranishi
• Manabu Higashida
• Kotaro Takaura
• Naoko Toyokawa
• Eiji Kawai