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Communication

DSSM: Distributed Streaming Data Sharing Manager

1
Department of Computer Science and Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan
2
Graduate School of Electrical Engineering and Computer Science, Shibaura Institute of Technology, Tokyo 135-8548, Japan
3
Department of Electrical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan
4
Escuela de Ingeniería, Universidad Católica del Norte, Coquimbo 1780000, Chile
5
Escuela de Auditoría, Universidad de Valparaíso, Valparaíso 2340000, Chile
*
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in Fukuda, H.; Gunji, R.; Hasegawa, T.; Leger, P.; Figueroa, I. Toward Distributed Streaming Data Sharing Manager for Autonomous Robot Control. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII), Honolulu, HI, USA, 12–15 January 2020; pp. 862–866.
Academic Editor: Jin Xiao
Sensors 2021, 21(4), 1344; https://doi.org/10.3390/s21041344
Received: 12 January 2021 / Revised: 8 February 2021 / Accepted: 10 February 2021 / Published: 14 February 2021
(This article belongs to the Special Issue Swarm Perception and Control of UAVs)
Developing robot control software systems is difficult because of a wide variety of requirements, including hardware systems and sensors, even though robots are demanding nowadays. Middleware systems, such as Robot Operating System (ROS), are being developed and widely used to tackle this difficulty. Streaming data Sharing Manager (SSM) is one of such middleware systems that allow developers to write and read sensor data with timestamps using a Personal Computer (PC). The timestamp feature is essential for the robot control system because it usually uses multiple sensors with their own measurement cycles, meaning that measured sensor values with different timestamps become useless for the robot control. Using SSM allows developers to use measured sensor values with the same timestamps; however, SSM assumes that only one PC is used. Thereby, if one process consumes CPU resources intensively, other processes cannot finish their assumed deadlines, leading to the unexpected behavior of a robot. This paper proposes an SSM middleware, named Distributed Streaming data Sharing Manager (DSSM), that enables distributing processes on SSM to different PCs. We have developed a prototype of DSSM and confirmed its behavior so far. In addition, we apply DSSM to an existing real SSM based robot control system that autonomously controls an unmanned vehicle robot. We then reveal its advantages and disadvantages via several experiments by measuring resource usages. View Full-Text
Keywords: sensors; robot operating system; streaming data sharing manager; distributed streaming data sharing manager sensors; robot operating system; streaming data sharing manager; distributed streaming data sharing manager
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MDPI and ACS Style

Fukuda, H.; Gunji, R.; Hasegawa, T.; Leger, P.; Figueroa, I. DSSM: Distributed Streaming Data Sharing Manager. Sensors 2021, 21, 1344. https://doi.org/10.3390/s21041344

AMA Style

Fukuda H, Gunji R, Hasegawa T, Leger P, Figueroa I. DSSM: Distributed Streaming Data Sharing Manager. Sensors. 2021; 21(4):1344. https://doi.org/10.3390/s21041344

Chicago/Turabian Style

Fukuda, Hiroaki; Gunji, Ryota; Hasegawa, Tadahiro; Leger, Paul; Figueroa, Ismael. 2021. "DSSM: Distributed Streaming Data Sharing Manager" Sensors 21, no. 4: 1344. https://doi.org/10.3390/s21041344

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