Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Tokyo 184-0012, Japan.
Sensors (Basel). 2020 Mar 9;20(5):1500. doi: 10.3390/s20051500.
This article presents the novel Python, C# and JavaScript libraries of Node Primitives (NEP), a high-level, open, distributed, and component-based framework designed to enable easy development of cross-platform software architectures. NEP is built on top of low-level, high-performance and robust sockets libraries (ZeroMQ and Nanomsg) and robot middlewares (ROS 1 and ROS 2). This enables platform-independent development of Human-Robot Interaction (HRI) software architectures. We show minimal code examples for enabling communication between Internet of Things (IoT) and Robotics modules. Two user cases performed outside laboratories are briefly described in order to prove the technological feasibility of NEP for developing real-world applications. The first user case briefly shows the potential of using NEP for enabling the creation of End-User Development (EUD) interfaces for IoT-aided Human-Robot Interaction. The second user case briefly describes a software architecture integrating state-of-art sensory devices, deep learning perceptual modules, and a ROS -based humanoid robot to enable IoT-aided HRI in a public space. Finally, a comparative study showed better latency results of NEP over a popular state-of-art tool (ROS using rosbridge) for connecting different nodes executed in local-host and local area network (LAN).
本文介绍了 Node Primitives (NEP) 的新型 Python、C#和 JavaScript 库，这是一个高级、开放、分布式和基于组件的框架，旨在轻松开发跨平台软件架构。NEP 建立在低层次、高性能和强大的套接字库（ZeroMQ 和 Nanomsg）和机器人中间件（ROS 1 和 ROS 2）之上。这使得人机交互 (HRI) 软件架构的平台独立开发成为可能。我们展示了最小的代码示例，用于实现物联网 (IoT) 和机器人模块之间的通信。为了证明 NEP 开发实际应用的技术可行性，简要描述了两个在实验室外进行的用户案例。第一个用户案例简要展示了使用 NEP 为物联网辅助人机交互创建最终用户开发 (EUD) 接口的潜力。第二个用户案例简要描述了一个软件架构，该架构集成了最先进的传感设备、深度学习感知模块和基于 ROS 的人形机器人，以在公共空间中实现物联网辅助的 HRI。最后，一项比较研究表明，在连接在本地主机和局域网 (LAN) 中执行的不同节点方面，NEP 的延迟结果优于流行的最先进工具 (ROS 使用 rosbridge)。
