@unpublished{upm68244,
           title = {Publish/Subscribe data communication in Cyber-Physical Systems oriented to Unmanned Aerial Vehicle},
           month = {July},
          author = {Beatriz Corpas Rodr{\'i}guez},
            year = {2020},
         address = {Madrid},
        abstract = {Los sistemas ciber-f{\'i}sicos son entidades computacionales que est{\'a}n siempre en contacto con el mundo f{\'i}sico que nos rodea y al mismo tiempo est{\'a}n conectados a internet para proporcionar y procesar datos. Hoy en d{\'i}a, los sistemas ciber-f{\'i}sicos tienen un papel muy importante en nuestra sociedad. Est{\'a}n involucrados en una gran cantidad de proyectos de diferentes sectores, como por ejemplo la computaci{\'o}n de datos de tr{\'a}fico para conseguir el coche aut{\'o}nomo perfecto, el reconocimiento de bosques y otras {\'a}reas de dif{\'i}cil acceso para controlar incendios y otro tipo de cat{\'a}strofes. Los sistemas ciber-f{\'i}sicos tambi{\'e}n son esenciales en el sector sanitario, en el cual ya existen robots que realizan operaciones que requieren un alto nivel de precisi{\'o}n. Para que este tipo de proyectos sean posibles, y cada vez m{\'a}s comunes, los sistemas ciber-f{\'i}sicos deben tener un alto nivel de computaci{\'o}n y las bater{\'i}as deben ser de larga duraci{\'o}n. Estas caracter{\'i}sticas no se dan al 100\% en este momento, pero se sigue investigando como mejorar estos aspectos. Otra de las caracter{\'i}sticas m{\'a}s importantes es la seguridad. Cuando se env{\'i}an y se reciben datos, es esencial mantenerlos seguros y a salvo ya que pueden ser datos sensibles y ser usados de manera maliciosa. Este proyecto se basa en el control remoto de un determinado tipo de sistema ciber-f{\'i}sico: los Veh{\'i}culos A{\'e}reos No Tripulados. Para llevarlo a cabo, se ha implementado un sistema de comunicaci{\'o}n de datos Publicador/Suscriptor. El principal escenario del proyecto est{\'a} formado por: dos ordenadores y un dron. El primero de ellos ser{\'a} con el que el usuario estar{\'a} en contacto, el segundo estar{\'a} en la localizaci{\'o}n remota junto con el dron, que ejecutar{\'a} las {\'o}rdenes recibidas por el segundo ordenador. Es importante establecer dos comunicaciones. La primera de ellas entre las m{\'a}quinas virtuales corriendo en los ordenadores, que se establece con el protocolo publicador/suscriptor llamado DDS. Una vez hecho, se establece la comunicaci{\'o}n entre el ordenador y el dron, conect{\'a}ndose al WiFi del dron y descargando una aplicaci{\'o}n para ejecutarla en Eclipse. Una vez establecidas, se hace una modificaci{\'o}n de la API para controlar el dron de manera remota y se crean dos hilos en el primer ordenador para poder enviar comandos y recibir datos de manera simult{\'a}nea. En un futuro, el proyecto ser{\'a} muy {\'u}til si se dan m{\'a}s situaciones como la de la primavera de 2020, en la que salir de casa no estaba permitido. Los sistemas ciber-f{\'i}sicos realizar{\'a}n las tareas esenciales, evitando as{\'i} la exposici{\'o}n de los humanos a virus o a otros peligros.
Abstract:
Cyber-Physical Systems are computational entities that are in contact with the physical world, and at the same time, provide data and processing it on the Internet. Today, and in an increasing way, these systems are used in many aspects of our daily lives, and they can do the most difficult part in different kinds of jobs. Nowadays, they play important roles. They are involved in several projects in different sectors, such as computing traffic data to achieve the perfect autonomous car, reconnaissance of forests and areas of difficult access to control fires and other types of catastrophes. They are also essential in healthcare, for which there are already robots that perform operations with a high level of precision. For this type of projects to become possible, and increasingly common, Cyber-Physical Systems must have a high level of computing and long-lasting batteries. These characteristics are not widespread nowadays, and research is still being performed on how to improve these aspects. Another of the most important characteristics of Cyber-Physical Systems is security. When sending or receiving data it is essential to maintain them secure, since depending on the sector in which these systems are used, there will be very sensitive data that can be badly used. This project is focused on the remote control of a certain type of Cyber-Physical System: the Unmanned Aerial Vehicle. To carry out this project, a Publish/Subscribe communication with data standards has been implemented. This project is made up of three main components: two different computers and one drone. The first host will let the user select one command to send it to the drone and it will receive what mission the drone is performing. The second one will show a graphic interface with drone data and will send the commands to the drone. Finally, the drone will receive the commands and will send the data to the second host. There are two important communications to establish in this project. The first one is the communication between two virtual machines running in two different hosts. This communication is performed using the Publish/Subscribe standard aforementioned, which is named Data Distribution Service. Once this is done, the communication between one host and the drone will be established. To perform it, it is necessary to connect to the drone?s WiFi and to download an application and execute it using Eclipse. When both communications were established, the procedure to follow was the modification of the API, to be able to drive the drone in a remotely fashion, according to the commands that the user chose in the first host. It was also important to implement two threads in the first host to send commands and receive data simultaneously. This project will be very useful if there are more situations like those experienced during Spring 2020, where leaving home was not allowed, since the Cyber-Physical Systems will be responsible for carrying out the essential tasks, thus avoiding human exposure to viruses, or other hazards.},
        keywords = {Veh{\'i}culos a{\'e}reos no tripulados; Sistemas ciber-fisicos},
             url = {https://oa.upm.es/68244/}
}