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A modular CPS architecture design based on ROS and Docker

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Abstract

In this paper a modular generic architecture for cyber-physical systems based on free open software components is presented. The architecture is implemented over inexpensive components frequently found in information and communication technology contexts. More specifically, the robot operating system middleware abstracts communication among multiple networked modules, whereas the Docker lightweight virtualization container is proposed to wrap up software modules. Focus is on mobile robotics in production systems and industrial automation environments. Actually, an automated guided vehicle problem is demonstrated by means of a proof of concept aimed at industrial automation applications illustrating the potential of the proposed architecture and its implementation, built with low cost hardware modules.

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Notes

  1. http://cyberphysicalsystems.org/.

  2. Top 500 of high performance computing: clusters. http://top500.org/.

  3. ROS site. http://www.ros.org.

  4. ROS-Industrial site. http://rosindustrial.org.

  5. Docker site. https://www.docker.com.

  6. Docker white paper: intro to container security. https://www.docker.com/docker-security.

  7. Raspberry Pi site. https://www.raspberrypi.org/.

  8. Arduino site. https://www.arduino.cc/.

  9. Arduino PLCs. http://www.industrialshields.com/.

  10. analog (0–10 \(\mathrm{V}_\mathrm{dc}\)), digital (24 \(\mathrm{V}_\mathrm{dc}\)) and interrupts (24 \(\mathrm{V}_\mathrm{dc}\)).

  11. 220 V–8 A relays and analog (0–10 \(\mathrm{V}_\mathrm{dc}\))/digital (24 \(\mathrm{V}_\mathrm{dc}\)).

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Acknowledgments

This work was supported in part by the University of the Basque Country (UPV/EHU) and the Basque Government (GV/EJ) by Projects EHU13/42 and CPS4PSS Etortek14/10, respectively.

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Authors and Affiliations

  1. Computer Languages and Systems Department, University College of Engineering of Vitoria-Gasteiz, U. of the Basque Country (UPV/EHU), Nieves Cano 12, 01005, Vitoria-Gasteiz, Spain

    Pablo González-Nalda, Ismael Etxeberria-Agiriano & Mari Carmen Otero

  2. Systems Engineering and Automatic Control Department, University College of Engineering of Vitoria-Gasteiz, U. of the Basque Country (UPV/EHU), Nieves Cano 12, 01005, Vitoria-Gasteiz, Spain

    Isidro Calvo

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  1. Pablo González-Nalda
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  2. Ismael Etxeberria-Agiriano
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  4. Mari Carmen Otero
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Correspondence to Pablo González-Nalda.

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González-Nalda, P., Etxeberria-Agiriano, I., Calvo, I. et al. A modular CPS architecture design based on ROS and Docker. Int J Interact Des Manuf 11, 949–955 (2017). https://doi.org/10.1007/s12008-016-0313-8

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