Cyber-physical system architecture of autonomous robot ecosystem for industrial asset monitoring

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dc.authoridKivrak, Hasan/0000-0002-3782-309X
dc.authoridWatson, Simon/0000-0001-9783-0147
dc.authoridLennox, Barry/0000-0003-0905-8324
dc.contributor.authorKivrak, Hasan
dc.contributor.authorKarakusak, Muhammed Zahid
dc.contributor.authorWatson, Simon
dc.contributor.authorLennox, Barry
dc.date.accessioned2024-09-29T15:55:10Z
dc.date.available2024-09-29T15:55:10Z
dc.date.issued2024
dc.departmentKarabük Üniversitesien_US
dc.description.abstractDriven by advancements in Industry 4.0, the Internet of Things (IoT), digital twins (DT), and cyber-physical systems (CPS), there is a growing interest in the digitalizing of asset integrity management. CPS, in particular, is a pivotal technology for the development of intelligent and interconnected systems. The design of a scalable, low-latency communication network with efficient data management is crucial for connecting physical and digital twins in heterogeneous robot fleets. This paper introduces a generalized cyber-physical architecture aimed at governing an autonomous multi-robot ecosystem via a scalable communication network. The objective is to ensure accurate and near-real-time perception of the remote environment by digital twins during robot missions. Our approach integrates techniques such as downsampling, compression, and dynamic bandwidth management to facilitate effective communication and cooperative inspection missions. This allow for efficient bi-directional data exchange between digital and physical twins, thereby enhancing the overall performance of the system. This study contributes to the ongoing research on the deployment of cyber-physical systems for heterogeneous multi-robot fleets in remote inspection missions. The feasibility of the approach has been demonstrated through simulations in a representative environment. In these experiments, a fleet of robots is used to map an unknown building and generate a common 3D probabilistic voxel-grid map, while evaluating and managing bandwidth requirements. This study represents a step forward towards the practical implementation of continuous remote inspection with multi-robot systems through cyber-physical infrastructure. It offers potential improvements in scalability, interoperability, and performance for industrial asset monitoring.en_US
dc.description.sponsorshipUK Research and Innovation, United Kingdom [EP/P01366X/1]en_US
dc.description.sponsorshipThis work was funded and supported by the UK Research and Innovation, United Kingdom (UKRI funded project EP/P01366X/1) .en_US
dc.identifier.doi10.1016/j.comcom.2024.02.013
dc.identifier.endpage84en_US
dc.identifier.issn0140-3664
dc.identifier.issn1873-703X
dc.identifier.scopus2-s2.0-85185408678en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage72en_US
dc.identifier.urihttps://doi.org/10.1016/j.comcom.2024.02.013
dc.identifier.urihttps://hdl.handle.net/20.500.14619/4502
dc.identifier.volume218en_US
dc.identifier.wosWOS:001186682800001en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherElsevieren_US
dc.relation.ispartofComputer Communicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectCyber-physical systemsen_US
dc.subjectDigital twinsen_US
dc.subjectInspection robotsen_US
dc.subjectMulti-robot systemsen_US
dc.subjectCooperative roboticsen_US
dc.subjectRemote environmental inspectionen_US
dc.subjectIndustrial Asset Managementen_US
dc.subjectHazardous environmenten_US
dc.subjectEnvironmental monitoringen_US
dc.subjectROSen_US
dc.subjectMulti-robot mappingen_US
dc.subjectBandwidth managementen_US
dc.titleCyber-physical system architecture of autonomous robot ecosystem for industrial asset monitoringen_US
dc.typeArticleen_US

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