A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces

Abstract

Since the Internet of Robotic Things (IoRT) is composed of robots with actuators, interferences with the real-world activities are necessary, and safety is essential. In addition, some IoRT services may require bidirectional communication between multiple machines. One of the communication protocols that satisfy these requirements is AMQP, a broker architecture that emphasizes reliability and high functionality in communication. Therefore, using AMQP as the communication infrastructure between components in an IoRT system, it can contribute to improving the reliability of robot operations in IoRT and diversifying messaging between robots. To verify AMQP's communication advantages, we have implemented the communication interface of AMQP in RT-Middleware, which is one of the robot middlewares, and have conducted performance and reliability tests on the effectiveness of RT-Middleware as a platform for constructing a reliable IoRT system. In the tests, we compared the communication performance of the platform with CORBA and MQTT communication interfaces implemented in RT-Middleware. The results show that although AMQP causes a small amount of latency compared to other communication interfaces, the distribution range of the latency is small, and relatively stable communication is performed. Furthermore, in the messaging quality test results, the data loss during communication by AMQP is almost a hundred times better than CORBA, and ten times better than MQTT, which mean that highly reliable messaging is possible. Based on this study's findings, we conclude that AMQP should be fully used as a communication protocol for constructing IoRT systems.

Using IoT Protocols in Real-Time Systems: Protocol Analysis and Evaluation of Data Transmission Characteristics

“…ere are a lot of comparisons between AMQP and MQTT. In [32], the authors compared the RTT of AMQP and MQTT. e results show that MQTT is slightly better than AMQP: the RTT of AMQP is about 700 microseconds and the RTT of MQTT is about 500 microseconds.…”

Energy Management of a Low-Cost Power Meter using ESP8266 and PZEM-016

“…Connectivity Architecture Furthermore, in Figure 5, the connectivity of the power meter device is implemented using the MQTT protocol. (Al-Masri et al, 2020) (Yoshino et al, 2021), where the transmitted data is in JSON format (Jeffin et al, 2020). In this process, the values obtained from the PZEM device, values such as voltage, current, power, and other parameters obtained from the PZEM device are collected and organized in JSON format before being transmitted via the MQTT pathway (Muhammad Syafri Syamsudin, Lala Septem Riza, 2023).…”

Data Exchange Techniques for Internet of Robotic Things: Recent Developments

“…For less power and highly reliable data flow among IoRT nodes, novel communication protocols, and standards are being developed III. Literature Review D.Yoshino et al [19], established AMQP, a pub/sub messaging protocol having a broker, as it can guarantee message delivery and order, as well as generate a wide range of message flows. They chose RT-Middleware for broadening the AMQP data exchange interface in their study because it permits networking apparatus to have several kinds of data exchange interfaces, which has previously proven difficult with other IoT systems, as well as robot middleware like ROS or ROS2.…”