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Using the Object Management Group Data Distribution Service to reliably teleoperate robotic systems

Roelofs, R.H. (2018) Using the Object Management Group Data Distribution Service to reliably teleoperate robotic systems.

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Abstract:Robotic Systems are used by the National Police of the Netherlands (NPN) for observation and surveillance operations. During these operations, it is very important that the drone can be controlled in a reliable and safe way. For instance, evading obstacles or not getting spotted during surveillance. To achieve this, video and control signals should be send and received in a reliable way. The data distribution is done via Data Distribution Service (DDS), which is a data-centric middleware protocol created by the Object Management Group (OMG). The goal for this research project is to determine whether or not DDS can be used to reliably teleoperate robotic systems used by the NPN under specified operating conditions. These operating conditions are packet loss, network overhead, different Operating Systems and hardware, while subjected to different data sizes (ranging from 4 to 16,384 bytes) and different types of DDS Quality of Service (QoS) settings (DDS QoS Reliability settings of ’reliable’ and ’best effort’).
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Embedded Systems MSc (60331)
Link to this item:https://purl.utwente.nl/essays/76516
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