In my master thesis, I first created a simulation of the NAVION Robotic machine to test the boundaries of the network for the experiment. I virtualized the ROS cores and ran it in a virtual machines through a virtual test box to emulate the network conditions.
After validating the concept in simulation, I implemented the solution in hardware using an ODROID4H+ board to build a network emulator. The resulting emulator is now plug-and-play, with the network bridge configuration and handling fully scripted for ease of use.
Additionally, I developed plugins in RVIZ that allow users to change the network settings on the fly by communicating with a server running on the network middlebox. This integration enables real-time control and evaluation of the network conditions directly from the robotics visualization environment.
The complete system was integrated into a medical robotic setup (NAVION), and the results were evaluated using computer vision techniques.
| What I work with | Details |
|---|---|
| Research Methods | Literature Review, Simulation, Hardware Prototyping, Experimentation, Data Analysis |
| Technologies | ROS, ODROID4H+, Network Emulation, RVIZ, Computer Vision |
| My Role | Researcher, Developer, Analyst |
| Status | In Progress |