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Full-Text Articles in Mechanical Engineering
Networked Heterogeneous Systems In A Ros-Enabled Cloud Environment, Christopher Reid
Networked Heterogeneous Systems In A Ros-Enabled Cloud Environment, Christopher Reid
Electronic Theses and Dissertations
It is important in the development of cloud robotics that the challenges presented by transferring computational loads to networked resources are properly addressed. The challenges include network latency, data integrity, security, and privacy. The objective of the present work is to investigate the issues of latency and data integrity in a representative cloud robotics environment. The present work involves setting up a cloud robotics network in an open-source Robot Operating System (ROS) framework and carrying out investigations on the levels of latency and reduction in data integrity as utilization of the network increases. In this study, a virtual datacenter has …
Neuromodulation Based Control Of Autonomous Robots On A Cloud Computing Platform, Cameron Muhammad
Neuromodulation Based Control Of Autonomous Robots On A Cloud Computing Platform, Cameron Muhammad
Electronic Theses and Dissertations
In recent years, the advancement of neurobiologically plausible models and computer networking has resulted in new ways of implementing control systems on robotic platforms. The work presents a control approach based on vertebrate neuromodulation and its implementation on autonomous robots in the open-source, open-access environment of robot operating system (ROS). A spiking neural network (SNN) is used to model the neuromodulatory function for generating context based behavioral responses of the robots to sensory input signals. The neural network incorporates three types of neurons- cholinergic and noradrenergic (ACh/NE) neurons for attention focusing and action selection, dopaminergic (DA) neurons for rewards- and …