Introducing The Effects of The Variations of Network Characteristics Into Cyber Physical Systems

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Dr. Molnár Sándor
Department of Telecommunications and Media Informatics

Robot simulation is an essential tool in every roboticist’s toolbox. A well-designed simula-

tor makes it possible to rapidly test algorithms, design robots, perform regression testing,

and train AI system using realistic scenarios.

A popular robotic simulator, Gazebo, offers the ability to accurately and efficiently

simulate populations of robots in complex indoor and outdoor environments. It provides

a robust physics engine, high-quality graphics, and convenient programmatic interfaces.

However, Gazebo lacks the feature of simulating the effects of control latency that would

make it a fully-fledged cyber-physical system (CPS) simulator.

I propose a Gazebo plugin to make Gazebo capable to simulate delay. Using this plugin

one can make measurements examining the effects of latency in simulated systems.

Using this plugin I make several measurements. First, I examine the behaviour of a

6-DOF arm in various latency scenarios.

I use this plugin to introduce network latency effects to the environment of Agile

Robotics for Industrial Automation Competition (ARIAC), which is a simulation-based

competition, with automated performance scoring. I evaluate performance of the Figment

Team’s solution in the competition with added network latency.

The application of the plugin in various use cases demonstrates that my proposed

plugin is useful for the evaluation of network effects. In the long run network operators

can use my extended simulation environment to provision networks in Cyber Physical

Production Systems (CPPS).


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