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.
Koki HIGASHI
Shibaura Institute of Technology
Yoichi ISHIWATA
ALES Corp.
Takeshi OHKAWA
Tokai University
Midori SUGAYA
Shibaura Institute of Technology
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Copy
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
Copy
@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},}
Copy
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 -