CIMLA: Checkpoint Interval Message Logging Algorithm in Kafka Pipeline Architecture

Aung, Thandar; Min, Hla Yin; Maw, Aung Htein

doi:10.1109/icait51105.2020.9261812

Cited by 3 publications

(3 citation statements)

References 6 publications

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“…Figure 2 shows the robot with its differential system variables as it travels along a given path in an absolute coordinate system X A Y A . The mobile is composed of two wheels with diameter φ, each placed at a distance L from the intermediate point P. The velocities of the wheels are denoted by v d (dextram = right) and v s (sinestram = left) respectively, so that the system inputs are: According to the model of direct kinematics presented in [47], the robot motion is given by the following matrix equation in (2).…”

Section: Ground Robotmentioning

confidence: 99%

“…For example, ROS is defined as a robotic middleware to help manage the complexity and heterogeneity inherent in distributed systems [ 1 ]. Apache Kafka is a distributed messaging system widely used in big data applications [ 2 ] and MAVLink is a communication protocol used for the bidirectional communications between drones and ground stations over a wireless channel [ 4 ]. In this sense, by having approved research platforms, it is possible to leave aside hardware problems and focus on algorithms’ performance.…”

Section: Background and Related Workmentioning

confidence: 99%

“…To this end, the devices, the sensors, the communication modules, the protocols, and the programming languages are designed to be compatible with each other. This conception of unified platforms such as ROS, Kafka, AEROSTACK, MAVLink among others, resolves several hardware problems and allows a more user-friendly environment for software developers [ 1 , 2 , 3 , 4 ]. However, high compatibility leads to a significant increase in resource usage.…”

Section: Introductionmentioning

confidence: 99%

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Sensor Information Sharing Using a Producer-Consumer Algorithm on Small Vehicles

Vazquez-Lopez

Lozada

Sandoval-Gutierrez

et al. 2021

Sensors

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There are several tools, frameworks, and algorithms to solve information sharing from multiple tasks and robots. Some applications such as ROS, Kafka, and MAVLink cover most problems when using operating systems. However, they cannot be used for particular problems that demand optimization of resources. Therefore, the objective was to design a solution to fit the resources of small vehicles. The methodology consisted of defining the group of vehicles with low performance or are not compatible with high-level known applications; design a reduced, modular, and compatible architecture; design a producer-consumer algorithm that adjusts to the simultaneous localization and communication of multiple vehicles with UWB sensors; validate the operation with an interception task. The results showed the feasibility of performing architecture for embedded systems compatible with other applications managing information through the proposed algorithm allowed to complete the interception task between two vehicles. Another result was to determine the system’s efficiency by scaling the memory size and comparing its performance. The work’s contributions show the areas of opportunity to develop architectures focusing on the optimization of robot resources and complement existing ones.

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Section: Ground Robotmentioning

confidence: 99%