Pub Date : 2023-03-13DOI: 10.1109/PerComWorkshops56833.2023.10150325
Nazish Tahir, Ramviyas Parasuraman
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. In this paper, we introduce a novel collaborative Simulation Twin (ST) strategy for control and autonomy on resource-constrained robots. The practical implementation of such a strategy entails a mobile robot system divided into a cyber (simulated) and physical (real) space separated over a communication channel where the physical robot resides on the site of operation guided by a simulated autonomous agent from a remote location maintained over a network. Building on top of the digital twin concept, our collaborative twin is capable of autonomous navigation through an advanced SLAM-based path planning algorithm, while the physical robot is capable of tracking the Simulated twin's velocity and communicating feedback generated through interaction with its environment. We proposed a prioritized path planning application to the test in a collaborative teleoperation system of a physical robot guided by ST's autonomous navigation. We examine the performance of a physical robot led by autonomous navigation from the Collaborative Twin and assisted by a predicted force received from the physical robot. The experimental findings indicate the practicality of the proposed simulation-physical twinning approach and provide computational and network performance improvements compared to typical remote computing (or offloading) and digital twin approaches.
{"title":"Mobile Robot Control and Autonomy Through Collaborative Twin","authors":"Nazish Tahir, Ramviyas Parasuraman","doi":"10.1109/PerComWorkshops56833.2023.10150325","DOIUrl":"https://doi.org/10.1109/PerComWorkshops56833.2023.10150325","url":null,"abstract":"When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. In this paper, we introduce a novel collaborative Simulation Twin (ST) strategy for control and autonomy on resource-constrained robots. The practical implementation of such a strategy entails a mobile robot system divided into a cyber (simulated) and physical (real) space separated over a communication channel where the physical robot resides on the site of operation guided by a simulated autonomous agent from a remote location maintained over a network. Building on top of the digital twin concept, our collaborative twin is capable of autonomous navigation through an advanced SLAM-based path planning algorithm, while the physical robot is capable of tracking the Simulated twin's velocity and communicating feedback generated through interaction with its environment. We proposed a prioritized path planning application to the test in a collaborative teleoperation system of a physical robot guided by ST's autonomous navigation. We examine the performance of a physical robot led by autonomous navigation from the Collaborative Twin and assisted by a predicted force received from the physical robot. The experimental findings indicate the practicality of the proposed simulation-physical twinning approach and provide computational and network performance improvements compared to typical remote computing (or offloading) and digital twin approaches.","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"152 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121803995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/percomworkshops56833.2023.10150238
{"title":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops): PerCom Artifacts 2023 - Program","authors":"","doi":"10.1109/percomworkshops56833.2023.10150238","DOIUrl":"https://doi.org/10.1109/percomworkshops56833.2023.10150238","url":null,"abstract":"","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115745789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/percomworkshops56833.2023.10150329
{"title":"PERVEHICLE 2023: PERVEHICLE 2023: Fifth International Workshop on Pervasive Computing for Vehicular Systems - Program","authors":"","doi":"10.1109/percomworkshops56833.2023.10150329","DOIUrl":"https://doi.org/10.1109/percomworkshops56833.2023.10150329","url":null,"abstract":"","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116655094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/PerComWorkshops56833.2023.10150300
Mathias Brossard, Guilhem Bryant, Xinxin Fan, Alexandre Ferreira, Edmund Grimley-Evans, Christopher Haster, Derek Miller, D. Mulligan, Hugo J. M. Vincent, Shale Xiong, Lei Xu
Ucam is a user-centric, blockchain-based and end-to-end secure home IP camera system designed by IoTeX. In a Ucam system, all the video clips captured by the camera are encrypted using a user-controlled symmetric key before storing them in the cloud. In this demo paper, we describe the system architecture and implementation of a privacy-preserving object detection proof-of-concept (PoC) for the Ucam system using Veracruz, a confidential computing framework developed by Arm Research. The resulting PoC demonstrates the viability of bringing the object detection capability to the Ucam system without leaking users sensitive information.
{"title":"Privacy-Preserving Object Detection with Veracruz","authors":"Mathias Brossard, Guilhem Bryant, Xinxin Fan, Alexandre Ferreira, Edmund Grimley-Evans, Christopher Haster, Derek Miller, D. Mulligan, Hugo J. M. Vincent, Shale Xiong, Lei Xu","doi":"10.1109/PerComWorkshops56833.2023.10150300","DOIUrl":"https://doi.org/10.1109/PerComWorkshops56833.2023.10150300","url":null,"abstract":"Ucam is a user-centric, blockchain-based and end-to-end secure home IP camera system designed by IoTeX. In a Ucam system, all the video clips captured by the camera are encrypted using a user-controlled symmetric key before storing them in the cloud. In this demo paper, we describe the system architecture and implementation of a privacy-preserving object detection proof-of-concept (PoC) for the Ucam system using Veracruz, a confidential computing framework developed by Arm Research. The resulting PoC demonstrates the viability of bringing the object detection capability to the Ucam system without leaking users sensitive information.","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120975707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/PerComWorkshops56833.2023.10150254
Atheer Aljeraisy, Omer F. Rana, Charith Perera
Applications for the Internet of Things (IoT) can derive sensitive information about people, so developers must protect users' privacy in compliance with privacy and data protection laws. However, developers face difficulties in ad-dressing privacy issues as many applications exploit personal data in a problematic manner. We present Canella, an inte-grated IoT development ecosystem that is augmented with novel privacy-preserving components for developing privacy-aware IoT applications. Canella helps software developers meet privacy requirements during the development phase and during rapid prototyping, and it provides real-time feedback on potential privacy concerns. Canella aims at assisting developers to (i) better understand their code's behavior, (ii) better overcome privacy issues and comply with privacy and data protection laws, (iii) reduce time to incorporate privacy into an IoT application, and (iv) reduce the cognitive load of integrating privacy into an IoT application. Thus, Canella can result in a significant improvement in building privacy-aware IoT applications. See the demo video (https://iotgarage.net/projects/demos/AtheerPerCom2023Demo)
{"title":"Canella: Privacy-Aware End-to-End Integrated IoT Development Ecosystem","authors":"Atheer Aljeraisy, Omer F. Rana, Charith Perera","doi":"10.1109/PerComWorkshops56833.2023.10150254","DOIUrl":"https://doi.org/10.1109/PerComWorkshops56833.2023.10150254","url":null,"abstract":"Applications for the Internet of Things (IoT) can derive sensitive information about people, so developers must protect users' privacy in compliance with privacy and data protection laws. However, developers face difficulties in ad-dressing privacy issues as many applications exploit personal data in a problematic manner. We present Canella, an inte-grated IoT development ecosystem that is augmented with novel privacy-preserving components for developing privacy-aware IoT applications. Canella helps software developers meet privacy requirements during the development phase and during rapid prototyping, and it provides real-time feedback on potential privacy concerns. Canella aims at assisting developers to (i) better understand their code's behavior, (ii) better overcome privacy issues and comply with privacy and data protection laws, (iii) reduce time to incorporate privacy into an IoT application, and (iv) reduce the cognitive load of integrating privacy into an IoT application. Thus, Canella can result in a significant improvement in building privacy-aware IoT applications. See the demo video (https://iotgarage.net/projects/demos/AtheerPerCom2023Demo)","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127282968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/percomworkshops56833.2023.10150225
{"title":"UMUM 2023: UMUM 2023: Second Workshop on Ubiquitous and Multi-domain User Modeling - Program","authors":"","doi":"10.1109/percomworkshops56833.2023.10150225","DOIUrl":"https://doi.org/10.1109/percomworkshops56833.2023.10150225","url":null,"abstract":"","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125565590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/PerComWorkshops56833.2023.10150327
Sarah Bradley, Albertus Alvin Janitra, Babar Shahzaad, Balsam Alkouz, A. Bouguettaya, Abdallah Lakhdari
We present a demonstration of service-based trajectory planning for a drone delivery system in a multi-drone skyway network. We conduct several experiments using Crazyfile drones to collect the drone's position data, wind speed and direction, and wind effects on voltage consumption rates. The experiments are run for a varying number of recharging stations, wind speed, and wind direction in a multi-drone skyway network. Demo: https://youtu.be/zEwqdtEmmiw
{"title":"Service-Based Trajectory Planning in Multi-Drone Skyway Networks","authors":"Sarah Bradley, Albertus Alvin Janitra, Babar Shahzaad, Balsam Alkouz, A. Bouguettaya, Abdallah Lakhdari","doi":"10.1109/PerComWorkshops56833.2023.10150327","DOIUrl":"https://doi.org/10.1109/PerComWorkshops56833.2023.10150327","url":null,"abstract":"We present a demonstration of service-based trajectory planning for a drone delivery system in a multi-drone skyway network. We conduct several experiments using Crazyfile drones to collect the drone's position data, wind speed and direction, and wind effects on voltage consumption rates. The experiments are run for a varying number of recharging stations, wind speed, and wind direction in a multi-drone skyway network. Demo: https://youtu.be/zEwqdtEmmiw","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114287376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/percomworkshops56833.2023.10150264
{"title":"UMUM 2023: Second Workshop on Ubiquitous and Multi-domain User Modeling - Welcome and Committees","authors":"","doi":"10.1109/percomworkshops56833.2023.10150264","DOIUrl":"https://doi.org/10.1109/percomworkshops56833.2023.10150264","url":null,"abstract":"","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129563773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/percomworkshops56833.2023.10150260
{"title":"TELMED 2023 Welcome message","authors":"","doi":"10.1109/percomworkshops56833.2023.10150260","DOIUrl":"https://doi.org/10.1109/percomworkshops56833.2023.10150260","url":null,"abstract":"","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114697812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-13DOI: 10.1109/percomworkshops56833.2023.10150249
{"title":"PerCom WIP papers 2023: 2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops): WIP papers - Program","authors":"","doi":"10.1109/percomworkshops56833.2023.10150249","DOIUrl":"https://doi.org/10.1109/percomworkshops56833.2023.10150249","url":null,"abstract":"","PeriodicalId":307197,"journal":{"name":"2023 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114855437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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