A set of experiments on both the dedicated test bed and the real robots has validated the effectiveness of its real-time assurance capability and its scalability.
We propose a loosely coupled, topic-based data publish-subscribe model with real-time assurance as the foundation of our work.
Figure 5e shows that with real-time assurance support, the topic with high priority delivers 173 messages and the low priority one delivers only 17 messages successfully.
It is a normal overhead incurred by both the extra real-time assurance code and the additional field in the network message.
However, according to the information that has been disclosed such as its preview APIs [18], the real-time assurance in distributed computing environment is not its major concern.
In this model, two kinds of message topics are defined: general topics without real-time assurance and real-time topics which support the fine definition of transport priority, latency budget, time-based filter and other real-time parameters.
The realization of the real-time assurance in a non-distributed environment mainly depends on appropriate scheduling of various local computing resources, such as the CPU or I/O devices.
Another main feature of ROS is that it can support the distributed message publish-subscribe model (without real-time assurance), which facilitates the development of loosely coupled distributed robot software.
Contemporary cloud computing research has seldom focused on solutions that provide both high availability and real-time assurance to these applications in a way that also optimizes resource consumption in data centers, which is a key consideration for cloud providers.
To successfully deploy SoS's run-time quality assurance, online reliability time series prediction, which aims to predict the reliability in near future for a service-oriented SoS,arises as a grand challenge in SoS research.
Benefits obtained were time saving, assurance and improvement of quality and cost reduction in bioprocess production.
