The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
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The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Récemment, des serveurs de périphérie situés plus près que le cloud sont devenus attendus pour traiter la grande quantité de données de capteurs générées par les appareils IoT tels que les robots. Des recherches ont été proposées pour améliorer la réactivité en tant que serveur de cache en appliquant KVS (Key-Value Store) à la périphérie comme méthode permettant d'obtenir une réactivité élevée. Surtout, un serveur KVS hybride utilisant à la fois des périphériques DRAM et NVMM (Non-Volatile Main Memory) devrait atteindre à la fois réactivité et fiabilité. Cependant, son efficacité n’a pas été vérifiée dans des applications réelles et son efficacité n’est pas claire en termes de relation avec le cloud. Le but de cette étude est d'évaluer l'efficacité des serveurs hybrides-KVS utilisant le SLAM (Simultaneous Localization and Mapping), qui est une application largement utilisée dans les robots et la conduite autonome. Il est approprié pour appliquer un serveur Edge et nécessite réactivité et fiabilité. SLAM est généralement implémenté sur le middleware ROS (Robot Operating System) et communique avec le serveur via le middleware ROS. Cependant, si nous utilisons le KVS hybride en périphérie avec le SLAM et le ROS, la communication ne pourrait pas être réalisée car les objets du message sont différents du format attendu par le KVS. Par conséquent, dans cette recherche, nous proposons un mécanisme pour appliquer l’objet mémoire ROS au KVS hybride en concevant et en implémentant la fonction de sérialisation des données pour étendre ROS. À la suite du fogcached-ros et de l'évaluation proposés, nous confirmons l'efficacité de la faible surcharge de l'API, la prise en charge des données utilisées par SLAM et la faible différence de latence entre la périphérie et le cloud.
Koki HIGASHI
Shibaura Institute of Technology
Yoichi ISHIWATA
ALES Corp.
Takeshi OHKAWA
Tokai University
Midori SUGAYA
Shibaura Institute of Technology
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Koki HIGASHI, Yoichi ISHIWATA, Takeshi OHKAWA, Midori SUGAYA, "Fogcached-Ros: DRAM/NVMM Hybrid KVS Server with ROS Based Extension for ROS Application and SLAM Evaluation" in IEICE TRANSACTIONS on Information,
vol. E104-D, no. 12, pp. 2097-2108, December 2021, doi: 10.1587/transinf.2021PAP0004.
Abstract: Recently, edge servers located closer than the cloud have become expected for the purpose of processing the large amount of sensor data generated by IoT devices such as robots. Research has been proposed to improve responsiveness as a cache server by applying KVS (Key-Value Store) to the edge as a method for obtaining high responsiveness. Above all, a hybrid-KVS server that uses both DRAM and NVMM (Non-Volatile Main Memory) devices is expected to achieve both responsiveness and reliability. However, its effectiveness has not been verified in actual applications, and its effectiveness is not clear in terms of its relationship with the cloud. The purpose of this study is to evaluate the effectiveness of hybrid-KVS servers using the SLAM (Simultaneous Localization and Mapping), which is a widely used application in robots and autonomous driving. It is appropriate for applying an edge server and requires responsiveness and reliability. SLAM is generally implemented on ROS (Robot Operating System) middleware and communicates with the server through ROS middleware. However, if we use hybrid-KVS on the edge with the SLAM and ROS, the communication could not be achieved since the message objects are different from the format expected by KVS. Therefore, in this research, we propose a mechanism to apply the ROS memory object to hybrid-KVS by designing and implementing the data serialization function to extend ROS. As a result of the proposed fogcached-ros and evaluation, we confirm the effectiveness of low API overhead, support for data used by SLAM, and low latency difference between the edge and cloud.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2021PAP0004/_p
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@ARTICLE{e104-d_12_2097,
author={Koki HIGASHI, Yoichi ISHIWATA, Takeshi OHKAWA, Midori SUGAYA, },
journal={IEICE TRANSACTIONS on Information},
title={Fogcached-Ros: DRAM/NVMM Hybrid KVS Server with ROS Based Extension for ROS Application and SLAM Evaluation},
year={2021},
volume={E104-D},
number={12},
pages={2097-2108},
abstract={Recently, edge servers located closer than the cloud have become expected for the purpose of processing the large amount of sensor data generated by IoT devices such as robots. Research has been proposed to improve responsiveness as a cache server by applying KVS (Key-Value Store) to the edge as a method for obtaining high responsiveness. Above all, a hybrid-KVS server that uses both DRAM and NVMM (Non-Volatile Main Memory) devices is expected to achieve both responsiveness and reliability. However, its effectiveness has not been verified in actual applications, and its effectiveness is not clear in terms of its relationship with the cloud. The purpose of this study is to evaluate the effectiveness of hybrid-KVS servers using the SLAM (Simultaneous Localization and Mapping), which is a widely used application in robots and autonomous driving. It is appropriate for applying an edge server and requires responsiveness and reliability. SLAM is generally implemented on ROS (Robot Operating System) middleware and communicates with the server through ROS middleware. However, if we use hybrid-KVS on the edge with the SLAM and ROS, the communication could not be achieved since the message objects are different from the format expected by KVS. Therefore, in this research, we propose a mechanism to apply the ROS memory object to hybrid-KVS by designing and implementing the data serialization function to extend ROS. As a result of the proposed fogcached-ros and evaluation, we confirm the effectiveness of low API overhead, support for data used by SLAM, and low latency difference between the edge and cloud.},
keywords={},
doi={10.1587/transinf.2021PAP0004},
ISSN={1745-1361},
month={December},}
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TY - JOUR
TI - Fogcached-Ros: DRAM/NVMM Hybrid KVS Server with ROS Based Extension for ROS Application and SLAM Evaluation
T2 - IEICE TRANSACTIONS on Information
SP - 2097
EP - 2108
AU - Koki HIGASHI
AU - Yoichi ISHIWATA
AU - Takeshi OHKAWA
AU - Midori SUGAYA
PY - 2021
DO - 10.1587/transinf.2021PAP0004
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E104-D
IS - 12
JA - IEICE TRANSACTIONS on Information
Y1 - December 2021
AB - Recently, edge servers located closer than the cloud have become expected for the purpose of processing the large amount of sensor data generated by IoT devices such as robots. Research has been proposed to improve responsiveness as a cache server by applying KVS (Key-Value Store) to the edge as a method for obtaining high responsiveness. Above all, a hybrid-KVS server that uses both DRAM and NVMM (Non-Volatile Main Memory) devices is expected to achieve both responsiveness and reliability. However, its effectiveness has not been verified in actual applications, and its effectiveness is not clear in terms of its relationship with the cloud. The purpose of this study is to evaluate the effectiveness of hybrid-KVS servers using the SLAM (Simultaneous Localization and Mapping), which is a widely used application in robots and autonomous driving. It is appropriate for applying an edge server and requires responsiveness and reliability. SLAM is generally implemented on ROS (Robot Operating System) middleware and communicates with the server through ROS middleware. However, if we use hybrid-KVS on the edge with the SLAM and ROS, the communication could not be achieved since the message objects are different from the format expected by KVS. Therefore, in this research, we propose a mechanism to apply the ROS memory object to hybrid-KVS by designing and implementing the data serialization function to extend ROS. As a result of the proposed fogcached-ros and evaluation, we confirm the effectiveness of low API overhead, support for data used by SLAM, and low latency difference between the edge and cloud.
ER -