Analysis of Cloud Storage In Robotic Environment

Analysis of Cloud Storage In Robotic Environment Cloud Computing: Analysis of Cloud Storage In Robotic Environment Tushar Gupta Sunil Yadav Abstract— Cloud is a well-designed data storage model concerned with the storage of information on the web. Such storage has greatly revolutionized the robotic environment for learning purpose. This paper provides an overview of how databases in cloud deliberate to store knowledge fabricated by both robots and human in a robot-readable open format that will support existing as well as forthcoming robots learn faster. These robots will pick up the aggregate knowledge which will be accumulated in the cloud storage so as to perform a set of tasks including navigation, task information like how to pick up an object as well as object-recognition data such as digital models of real-world objects, to simultaneously confine itself in the unknown environment and to construct a map of the environment without having any knowledge in advance. Keywords—cloud, storage, robotics, robobrain, rapyuta I. Introduction From decades, it has been noticed that robots are mainly empowered with programming embedded in a chip but a small defect could result into malfunctioning of the whole unit and hence affect learning ability of robots. As such certain mechanism is required that will provide guarantee in terms of reliability, security and robustness. Due to great processing power of cloud it paved the way as an appropriate utility in Robotic Environment. Cloud robotics is one such step taken towards, that has evolved idea of leveraging the Internet for robots, and offers extraordinary opportunities for robot learning. Instead of using the World Wide Web for rapid communication or faster reckoning, a key factor is allowed for robots to generate and collaboratively update shared knowledge repositories. Such knowledge bases will power robots to deal with the intricacies of human environments and offer a simple yet powerful way for life-long robot learning. [1] The objective of the European-Commission-fund ed initiative is to evolve proof-of-concept demonstrations that show the way that cloud repositories like RoboEarth’s databases can greatly prompt robot learning and how they may finally allow robots to act well beyond their preprogrammed behaviors. As many AI Researchers are putting effort in establishing a database in cloud which they called â€Å"RoboBrain† that will house all the information which robots have learned till now and help them further their knowledge by sharing that knowledge. On the developer’s hand, they will have access to RoboBrain’s massive database, free of charge and wirelessly. [2] Aditya Jami, from Cornell, who depicted the database for RoboBrain said this about it: â€Å"The RoboBrain will look like a gigantic, branching graph with abilities for multi-dimensional queries.† By sharingparameters, data, files and everythingelse robots have gathered till now, their developers will access and automates the robot’s grasp ing of their ambiances, including speech and voice recognition, grasping, navigating and perception of different objects. Year 2010 was firstly marked as the self-drivingcarscame in our lives which afterwards tracked by RoboEarth (a system that allow the robots to distribute their knowledge wirelessly between each other). II. Literature Review A. Cloud Robotics Cloud Robotics is a specialized application of cloud computing that deals with the study of robots and their environment. Since with the help of cloud all the data will get stored on the web which in turn has greatly boosted the ability of robots to perform all workings by sharing experience with each other in order to provide a precise response. Due to connection with cloud network it is easier for robots to collaborate with other objects, machines and human beings. At the same time, internet has highly augmented the capabilities of robots by providing service on demand and offloads computation. Cloud robotics has greatly overcome the problem of network robotics due to their resource, information and communication constraints. With the arrival of cloud robotics expenditure of maintenance and updates and requirement of custom middleware has solved up to a great extent. Fig 1: Driven by advances in mobile communication technologies, lots of robotics applications can be executed in the cloud environment[3]. Robots are able to perform some computationally heavy tasks such as mapping, planning and probabilistic interference through the accessibility of huge computational infrastructure. RoboEarth is one such attempt that offers a cloud based infrastructure, which can help a robot to send some data to cloud and get the data back from the cloud in some other form. RoboEarth is a kind of database that stores the knowledge generated by either humans or robot but in a machine readable format. RoboEarth knowledge base is supposed to consist of a variety of data including task knowledge (e.g. manipulation strategies, action recipes etc.), several software components, maps for navigation (e.g. world models and location of objects), model that aids in recognition of different objects.(e.g. object models, images). Rapyuta which is also considered as the RoboEarth cloud engine is highly responsible for powerful computations to the robots. It is implemented as Platform-as-a-Service which is open sour ce designed to suit robotics application. It enables the robots to unburden heavy computation to protect cloud’s computing environment with marginal configuration. Rapyuta is considered to provide efficient access to the bandwidth which in turn provides access to the repository of knowledge on cloud enabling robots to learn skills and share experience with other robots. The components of the cloud robotics are so well structured and interconnected that they provide the environment for the deployment of large robotic teams. B. Software Components RoboEarth system is powered with the cloud infrastructure which in turn supported by RoboEarth databases and RoboEarth cloud engine (Rapyuta) in addition with several software components. Such software components are responsible to interact with the RoboEarth database in order to enquiry and accumulate data and can be installed for their execution in cloud engine or locally on the robot. In certain scenario these components can also be used independently. Fig 3: A simple architecture diagram of the integrated RoboEarth system can be used during thefinal demonstrator [4]. Rapyuta: Rapyuta is a framework which is an open source framework for having utility in cloud robotics. The figure below give a simple outlook of the Rapyuta framework: Each robot attached to the Rapyuta is having a reliable computing environment (rectangular boxes) enhancing their efficiency to move their heavy computation in the cloud. Computing environment are interconnected in a well-structured way and have a high bandwidth connectivity to the repository of knowledge as shown in the figure by stacked circular disks. Fig 2: Rapyuta: A Cloud Robotics Framework [5] RoboEarth DB: The Apache Hadoop based WWW- style database used to store essential data for the robots. KnowRob: It is a system involved in the processing of knowledge that groups reasoning methods and knowledge representation with several techniques for acquiring the knowledge in the physical system. It also serves as a framework that gathers knowledge through the various sources and is used in RoboEarth as a local knowledge base for robots. Object Adapter: These are the set of ROS packages that enables both robots and users to build up a small cloud model from an object using a marker pattern, so that the resulting model can be stored in the RoboEarth’s repository of knowledge, and allow downloading the object models later and used them for detecting objects. WIRE: The WIRE stack allows generating and maintaining one stable world state gauze based on object detections. It is highly involved in the data association problem by retaining multiple hypotheses and facilitates following of various object attributes. C2TAM: C2TAM implements a system called visual SLAM which is dependent upon a distributed framework where the storage and expensive map optimization is allocated on an external server, whereas a light camera tracking client executes on the local machine. The robot onboard computers are released from a burden of calculation, the only additional requirement being an internet connection. III. Application of cloud storage in robotics Cloud Based Robotics has proved to have a number of applications and advantages over the traditional networked based robotics. Cloud storage provides a shared knowledge database by which the robots can easily share their information with each other and can aligned them to work collaboratively in order to achieve a common task. Cloud robotics offloads the computing tasks to the cloud which involves heavy computation. Moreover cloud robotics is cheaper, easier to maintain hardware and lighter which results in the long battery life. CPU hardware upgrades are undetectable and hassle free. Cloud Robotics involves skilled and well maintained database. Reusable library of capability or etiquette that map to perceived tasks requirements/complex situations. Data mining keep the history of all cloud which enable robots. Due to these advantages, cloud robotics had a wide range of potential applications in the computation-intensive or data-intensive tasks in the areas of health care, intelligent transportation, environment monitoring, smart home, entertainment, education and defense. In this section, we discuss the opportunity and challenges that cloud robotics bring to traditional robotic applications. Specifically we focus upon three robotic applications: Robotic Surgery, Defense and navigation. A. Robotic Surgery Consider a scenario where a situation demands instant operation of a patient but the problem is doctor is not available. Then to tackle with that situation Robots can help because they can capture the useful knowledge from the cloud regarding the operation tips as mentioned by the other robots who previously have tackled with the same situation who is currently present somewhere else. In this way the whole operation can be executed in a safe and reliable manner. B. Defense Cloud robotics has a huge application in defense where they can sense the area which has the maximum probability of finding enemy by selecting the appropriate map from cloud storage at appropriate time. Cloud storage can be fed with updated maps from time to time with the help of satellites. As such human life can be saved by using robots in place of them at the time of world war or any war happening in the country. C. Navigation Robotic Navigation involves a robot identifying its own position with respect to a certain reference by choosing an appropriate path from there to reach the desired destination from all possible paths available. Such activity involves a collection of tasks such as localization, path planning and mapping. Two types of approaches are available: mapless and map based approach [13]. Mapless approaches are based on the observation and perception of the sensors used in navigation. Due to the limited onboard resources, these approaches usually suffer from reliability issues. Map based robotic navigation is comparatively better then mapless if the map is available. It can either use an unknown map or build a map during navigation. On the other hand building maps requires too much computation and storage requirements. However, if the area is large process of creating map requires access to vast amount of data which is a challenging task. Cloud robotics highly aids cloud based navigation by fa cilitating the following two properties: In addition to provide vast storage space to store the large amount of map data, cloud also provide processing power to facilitate the construction and searching of the map quickly. Secondly, commercially available maps (e.g. Google maps, bing maps) can also be leveraged to develop consistent, active, and high range independent navigation solutions. IV. shortcomings of cloud storage in robotics One of the key issues regarding cloud robotics is threaten to cloud storage which is highly vulnerable to malicious attacks. Moreover the wireless network over which the robot communicates with cloud in order to exchange information can be challenged at any instant of time. As certain security mechanism needs to be provided that will result in the increasing overhead of the overall system. As discussed, previously that a developer has an access over the cloud. In the same manner if an intruder gets access to the cloud somehow then it might be possible the same intruder will replace the existing information in cloud with some other malicious information that will result in the malfunctioning of robots that proves to be highly destructive. Several other limitations of cloud robotics:- 1. As discussed in section II cloud supports the software part of the robot and it doesn’t have to deal with the hardware structure of the robots. So, it offload the hassle and costs of IT management. 2. Cloud robotics relies heavily on the cloud which in turn depends upon internet connection. So, if internet service will get affected from frequent outages or slow speed it fails to help the robots to continue their frequent communication in order to share knowledge from knowledge repository present on the cloud. 3. It is a hard fact to digest that robotics is lacking emotions. Such thing results in a huge impact on the people because of their adjustment with the machinery robots because there is high probability of thinking mismatch between them. Consider havoc where the people are suffering from the local environment conditions. As such if certain robotic team is send there for the rescue operation for their safety it is very hard for the humans to believe upon them. V. Possible Solutions And Future Scope Instead of fetching knowledge every time to perform an operation from cloud. A robot must be able to remember the already done tasks in order to tackle the same situation next time but at faster rate with greater efficiency. Robots can be taught to handle many different tasks through the installation of robotic apps. Very soon, these robots will enhance the real-time by connecting to the cloud and downloading apps from there [9]. An app store for robots – Downloading apps from the app store is one the biggest reality behind smartphones success. In the same way Robot Apps can be used to control the robot and imparting intelligence in them. Some Apps allow you to generate predefined-programmed movement sequences, while others are used for remote control, whereas software development platforms are used to make more sophisticated autonomous control systems. VI. ConClusion We have discussed a scenario where future robotics will rely heavily on cloud storage that will enhance their capability and functionality in terms of learning and sharing information in order to work collaboratively to achieve some goal which was limited earlier due to limited programming. Cloud storage also enabled the developers due to their accessibility to the cloud to control and coordinate the robot activities at any point where the situation demands that may not be favorable to nature. Cloud storage also supports some real time applications like Health Care, Intelligent transportation, Rescue Operation, Assembling of different parts in production of vehicles etc. Cloud Storage in some cases proves to be inadequate due to poor transfer rate and harmful due to security threats on cloud due to wireless networking access technique which could be easily challenged at any time resulting in a huge destruction. References M . Waibel , â€Å"Analysis: Robot learning in the cloud Covic â€Å"RoboBrain† Will Use Cloud to Teach Robots, Available: http://robohub.org/analysis-robot-learning-in-the-cloud/ V. Covic, â€Å"RoboBrain† Will Use Cloud to Teach Robots, Available: http://www.cloudwards.net/news/robobrain-will-use-the-cloud-to-teach-robots-4543/ RoboEarth, What is Cloud Robotics? Available: www.roboearth.org/cloud_robotics, 2013. RoboEarth, What are Software Components in Cloud Robotics? Available: http://roboearth.org/software-components/ Rapyuta: A Cloud Robotics Framework, A Cloud Robotics Platform Available: http://rapyuta.org/ Guoqiang Hu, Wee Peng Tay, and Yonggang Wen, â€Å"Cloud Robotics:Architecture, Challenges and Applications† IEEE NETWORK MAGAZINE S. Jordà ¡n*, T. Haidegger**, L. Kovà ¡cs**, I. Felde** and I. Rudas**, The Rising Prospects of Cloud Robotic Applications, IEEE 9th International Conference on Computational Cybernetics †¢ July 8-10, 2013 †¢ Tihany, Hungary Richard Voyles â€Å"Robotics as a â€Å"Singularity†: The Case for Cloud Robotics and Real-Time Big Data† Available:http://telerobot.cs.tamu.edu/CMA/slides/Voyles.CASECloudMfg.pdf, August 17, 2013 Grishin Robotics â€Å"Future of cloud Robotics† Available: http://www.pinterest.com/pin/278660295665464178/ K. Goldberg. Cloud Robotics. Available: goldberg.berkeley.edu/cloud- robotics, 2013. K. Goldberg and B. Kehoe, Cloud Robotics and Automation: A Survey of Related Work. UC Berkeley Technical Report No. UCB/EECS-2013-5. Available: http://www.eecs.berkeley.edu/Pubs/TechRpts/ 2013/EECS-2013-5.html, 2013. RobotShop, Pioneers Cloud Robotics, Interview With Mario Tremblay. Available: www.robotshop.com/blog/en/myrobots-com F. Bonin-Font, A. Ortiz, and G. Oliver, â€Å"Visual navigation for mobilerobots: A survey,† Journal of Intelligent and Robotic Systems, vol. 53, pp. 263–296, 2008. `

The Life Of Anne Frank :: essays research papers

The Life of Anne Frank On the Deportations "Our many Jewish friends and acquaintances are being taken away in droves. The Gestapo is treatiang them very roughly and transporting them in cattle cars to Westerbork, the big camp in Drenthe to which they're sending all the Jews....If it's that bad in Holland, what must it be like in those faraway and uncivilized places where the Germans are sending them? We assume that most of them are being murdered. The English radio says they're being gassed."-- October 9, 1942 On Her Old Country, Germany "Fine specimens of humanity, those Germanns, and to think I'm actually one of them! No, that's not true, Hitler took away our nationality long ago. And besides, there are no greater enemies on earth than the Germans and Jews."-- October 9, 1942 On Nazi Punishment of Resisters "Have you ever heard the term 'hostages'? That's the latest punishment for saboteurs. It's the most horrible thing you can imagine. Leading citizens-- innocent people—are taken prisoner to await their execution. If the Gestapo can't find the saboteur, they simply grab five hostages and line them up against the wall. You read the announcements of their death in the paper, where they're referred to as 'fatal accidents.'"--October 9, 1942 "All college students are being asked to sign an official statement to the effect that they 'sympathize with the Germans and approve of the New Order." Eighty percent have decided to obay the dictates of their conscience, but the penalty will be severe. Any student refusing to sign will be sent to a German labor camp."--May 18, 1943 Here is were the story begins ... On June 12, 1942, Anne Frank's parents gave her a small red-and-white plaid diary for her thirteenth birthday. Anne recorded her innermost feelings in her diary, which she named "Kitty." Less than a month after receiving her diary, on July 6, 1942, Anne and her family were forced to go into hiding. Though they could bring very few things with them to the hiding place, Anne brought her diary. During the months Anne lived in hiding, her diary became her best friend and confidant. In hiding, Anne continued to write in her diary nearly every day. She wrote about her life with the seven other people in hiding--her parents, her sister, the van Pels family (called the van Daan family by Anne), and Fritz Pfeffer (called Alfred Dussel by Anne), as well as the war going on around her, and her hopes for the future. When she filled up her original diary, Miep Gies and Bep Voskuijl, two of the family's helpers,brought her ledgers and loose sheets of paper to continue

Nelson Mandela’s Leadership Essay

In a racially divided South Africa, Nelson Mandela emerged as a great leader. He joined the African National Congress (ANC) to lead a movement whose main goal is to eradicate apartheid. (Racial separation). He promoted peaceful protests to meet that goal; however, when the ruling party banned the ANC, he set a military wing within the ANC to take the resistance against the Apartheid to a new level where he had no choice other than using violence. His actions landed him in prison for nearly three decades. He led secret negotiations with the ruling party while he was in prison aimed at dismantling the apartheid policies. Such negotiations, which resulted in his release in 1990, went on years later to bring an end to Apartheid. In 1994, he became the first black president of South Africa, forming a multiethnic government to oversee the country’s transition to a new era of democracy (1). In 1999, he decided to retire from politics, but has not retired yet from promoting peace and social justice in South Africa as well as around the world. So, Nelson Mandela stood out as a great leader due to his leadership styles, his charismatic leadership, ethical leadership and his leadership power. Leadership attitudes and styles of Nelson Mandela: Nelson Mandela developed â€Å"a strong relationship-oriented behavior, which contributed to his participative leadership style† (2). He learned from his guardian, when he was observing him presiding over tribal meetings, to listen to all sides of argument before venturing his opinion. It was his firsthand experience of how to lead from behind (9). He always remembers the regent’s axiom. He said:† A leader is like a shepherd. He stays behind the flock, letting the most nimble go out ahead, whereupon the others follow, not realizing that all along they are being directed from behind.†(Long walk to freedom3). Mandela’s leadership success is attributed to his use of consensus. He inspired his followers and gained their commitment to fight in the sake of abolishing apartheid when he was the leader of the ANC. He used the same participative leadership as president by forming a multiethnic government that includes the people who tortured him for 27 years. Throughout his battle against apartheid and helping to bring democracy to South Africa, Mandela adopted a democratic leadership style. According to  Johnson and Johnson (2006), â€Å"Democratic leaders set policies through group discussion and decision, encouraging and helping group members to interact, requesting the cooperation of others† (4). Mandela believed in the value of the democratic process, even though he did not always initially agree with the results. Some of his unsuccessful pursuits included when he tried during his imprisonment to have prisoners addressed more respectfully by guards, and later when he attempted to have the national voting age lowered to 14 (4). Charismatic leadership: Nelson Mandela influential power stems largely from his charismatic leadership characterized by a compelling vision for the future, his willingness to take a risk for the sake of the well-being of his country, and the sense of forgiveness he demonstrated towards his enemy. Nelson Mandela was a visionary leader who articulated an idealized vision of a future that is significantly better than the present. He envisioned a South Africa where apartheid would finally abolished and everyone should live without worrying to be discriminated against based on race or color. It was this vision of a free and democratic South Africa that sustained him through the darkest days in prison. The same vision has changed the governance in South Africa and made him the first black president of South Africa. Due to the same vision South Africa became the first African country to host the world soccer cup in 2010. He inspired people by his courage and passion. Mandela knew that the risk he was taking was enormous, and the consequences could be devastating to him as well to the well-being of his family. He took the risk of setting a military wing within the ANC to combat the oppressive regime knowing that he will be the first one that the ruling party would target After becoming a president in 1994, he decided to forgive the people who tortured him for nearly three decades. Through this act, he demonstrated the the kind of charismatic qualities he possessed. . Mandela acquired the respect and love of many citizens upon his release from prison, as it was inspiring to the nation that someone could â€Å"emerge from such hardship and humiliation and talk of forgiveness and reconciliation with the enemies who caused†¦suffering† (5). He used his servant leadership style to promote peace outside South Africa; he promoted reconciliation over retaliation to pave the way for progress and prosperity in the neighboring African countries. (6) Ethical leadership Mandela had strong ethical values through having a heart and soul of leadership by consistently promoting peaceful protests rather resorting to violence. From an early age, he was inspired to study law with the intention of defending black South Africans against the ruling party’s unfair treatment. Nelson Mandela as a lawyer voluntarily represented many detainees under the ANC. (Denenberg, 1995). (7) Leadership power Specialized skills and knowledge gave Mandela expert power to be an influential figure. He graduated with law degree and huge political experiences gained when he was the leader of ANC. He utilized his knowledge to communicate with others prisoners who viewed him as a reference for any course of action within the prison such as hunger strike to get better living conditions.(8) Also, Mandela inspired his followers by utilizing referent power, which was closely linked to his traits of trustworthiness and integrity. With his own lofty personality of charismatic leader, skills and knowledge, Mandela become a famous figure, which brought him a â€Å"prestige power† that he uses to promote social justice all over the world such as raising charities to overcome the poverty. Conclusion: Nelson Mandela lived up to his quotation when he said: â€Å"it is better to lead from behind and to put others in front, especially when you celebrate victory when nice things occur. You take the front line when there is a danger. Then people will appreciate your leadership†. It’s clear that Mandela stood in favor of involving his followers in the decision making process. He was always endeavored to listen to what each person has to say before he gives his opinion, which is often a consensus of what he heard in the conversation. That’s how he led from behind. He took the front and put his life as well as the life of his family at risk to free the black South African from the oppression of a white minority regime. Because he understood that unless that risk is taken, the unfair treatment against the native South African will continue forever. Works Cited 5- Bill Clinton & Archbishop Desmond TuTu, 2006, Mandela: The authorized portrait, Andrews Mcmeel Publishing, Kansas City 1-Denenberg, Barry. Nelson Mandela: No easy walk to freedom. New York: Scholastic Inc, 2005. Print. 6- Denenberg, Barry. Nelson Mandela: No easy walk to freedom. New York: Scholastic Inc, 2005. Print 3-Johnson, D.W., & Johnson, F.P. (2006). Joining together group theory and group skills (9th Ed.). Boston: Pearson Education, Inc. 8-le, thai. â€Å"leadership style: Nelson Mandela Vs. Adolf Hitler†. Articlecell. Articlecell,n.d. Web. 27 Mar. 2013. 7-Mandela, N (1965) No Easy Walk to Freedom. Penguin Books Ltd, London, England. 2-â€Å"Nelson Mandela – Biography†. Nobelprize.org. 27 Mar 2013 http://www.nobelprize.org/nobel_prizes/peace/laureates/1993/mandela-bio.html 4-Stengel, Richard. â€Å"Mandela: His 8 Lessons of leadership†.Time.com. â€Å"N.p.† 09 July.2008.Web. 25 Mar. 2013.

What Is Puberty A Critical Period Of Life And Worldview

What is Puberty? Puberty refers to the adolescent physiological development and psychological development period of rapid change, the transition from childhood period to adulthood; a critical period of life and worldview is gradually formed. Usually is after the child 10 years old. In the transition to adult sexual development, performance, body, and an important period of heart full development characterize sexual maturity. Sexual maturity is the core of puberty. The main changes of puberty can be summarized as the following aspects: (1) Sexual development: including gonads, genitals, secondary certificate includes development and sexual function. For teenagers, to be timely, adequate and appropriate sex education according to their growth characteristics and the age in which cultural background. Let teens know that sexual morality is the symbol of human civilization, to understand the noble character of valuable, life in the community, to be social recognition and acceptance, it must abide by social morality, including sexual morality. Conducting sex education should also pay attention to improving the poor external environment, good living arrangements for amateur youth, guiding them to the legitimate activities in order to stimulate their legitimate interest in life. (2) The adolescent growth spurt, forming a second peak growth rate, a significant increase in the skeletal system and some of the internal organs during this period. (3) The circulatory system andShow MoreRelatedMy Goal As A Licensed Counselor961 Words   |  4 Pagesto children and adolescents. 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