<s>
Fog	B-General_Concept
robotics	I-General_Concept
can	O
be	O
defined	O
as	O
an	O
architecture	O
which	O
consists	O
of	O
storage	O
,	O
networking	O
functions	O
,	O
control	O
with	O
fog	B-Device
computing	I-Device
closer	O
to	O
robots	B-Algorithm
.	O
</s>
<s>
Fog	B-General_Concept
robotics	I-General_Concept
mainly	O
consists	O
of	O
a	O
fog	O
robot	B-Algorithm
server	O
and	O
the	O
cloud	O
.	O
</s>
<s>
Moreover	O
,	O
these	O
servers	O
are	O
adaptable	O
,	O
consists	O
of	O
processing	O
power	O
for	O
computation	O
,	O
network	O
capability	O
,	O
and	O
secured	O
by	O
sharing	O
the	O
outcomes	O
to	O
other	O
robots	B-Algorithm
for	O
advanced	O
performance	O
with	O
the	O
lowest	O
possible	O
latency	B-Protocol
.	O
</s>
<s>
As	O
cloud	B-General_Concept
robotics	I-General_Concept
is	O
facing	O
issues	O
such	O
as	O
bandwidth	O
limitations	O
,	O
latency	B-Protocol
issues	O
,	O
quality	O
of	O
service	O
,	O
privacy	O
and	O
security	O
-	O
Fog	B-General_Concept
robotics	I-General_Concept
can	O
be	O
seen	O
as	O
a	O
viable	O
option	O
for	O
the	O
future	O
robotic	O
systems	O
.	O
</s>
<s>
It	O
is	O
also	O
considered	O
as	O
distributed	O
robot	B-Algorithm
systems	O
of	O
the	O
next	O
generation	O
because	O
robots	B-Algorithm
require	O
much	O
brain	O
power	O
for	O
processing	O
billions	O
of	O
computations	O
while	O
performing	O
its	O
task	O
.	O
</s>
<s>
For	O
instance	O
,	O
fog	B-General_Concept
robotics	I-General_Concept
can	O
play	O
an	O
essential	O
role	O
in	O
helping	O
a	O
robot	B-Algorithm
to	O
grasp	O
spray	O
bottle	O
.	O
</s>
<s>
A	O
social	O
robot	B-Algorithm
can	O
either	O
connect	O
to	O
the	O
cloud	O
or	O
fog	O
robot	B-Algorithm
server	O
depending	O
upon	O
the	O
availability	O
of	O
information	O
.	O
</s>
<s>
For	O
instance	O
,	O
it	O
can	O
make	O
a	O
robot	B-Algorithm
working	O
at	O
an	O
airport	O
to	O
communicate	O
with	O
other	O
robots	B-Algorithm
for	O
effective	O
communication	O
with	O
the	O
help	O
of	O
fog	B-General_Concept
robotics	I-General_Concept
.	O
</s>
<s>
FogROS	O
is	O
a	O
framework	O
that	O
allows	O
existing	O
ROS	O
automation	B-Application
applications	O
to	O
gain	O
access	O
to	O
additional	O
computing	O
resources	O
from	O
commercial	O
cloud-based	B-Architecture
services	O
.	O
</s>
<s>
This	O
framework	O
is	O
built	O
on	O
the	O
Robot	B-Algorithm
Operating	B-General_Concept
System	I-General_Concept
(	O
ROS	O
)	O
,	O
the	O
de	O
facto	O
standard	O
for	O
creating	O
robot	B-Algorithm
automation	B-Application
applications	O
and	O
components	O
.	O
</s>
<s>
For	O
fog	O
and	O
cloud	B-General_Concept
robotics	I-General_Concept
,	O
it	O
is	O
the	O
first	O
robot	B-Algorithm
operating	B-General_Concept
system	I-General_Concept
with	O
algorithm-level	O
collaborative	O
computing	O
.	O
</s>
<s>
It	O
is	O
a	O
dynamic	O
action	O
decision	O
algorithm	O
based	O
on	O
online	O
learning	O
,	O
which	O
determines	O
how	O
robots	B-Algorithm
and	O
servers	O
cooperate	O
.	O
</s>
<s>
The	O
algorithm	O
dynamically	O
updates	O
parameters	O
to	O
adapt	O
to	O
changes	O
of	O
conditions	O
where	O
the	O
robot	B-Algorithm
is	O
currently	O
in	O
.	O
</s>
<s>
It	O
achieves	O
elastically	O
distributing	O
of	O
computing	O
tasks	O
to	O
robots	B-Algorithm
and	O
servers	O
according	O
to	O
configurations	O
.	O
</s>
<s>
This	O
project	O
promotes	O
the	O
applicability	O
of	O
fog	B-General_Concept
robotics	I-General_Concept
with	O
regards	O
to	O
human-robot	O
interaction	O
scenarios	O
.	O
</s>
<s>
It	O
utilises	O
fog	O
robot	B-Algorithm
servers	O
,	O
cloud	O
,	O
and	O
the	O
robots	B-Algorithm
for	O
evaluation	O
of	O
fog	B-General_Concept
robotics	I-General_Concept
architecture	O
.	O
</s>
<s>
To	O
improve	O
the	O
security	O
and	O
performance	O
of	O
robotic/machine	O
-learning	O
applications	O
operating	O
in	O
edge	B-Device
computing	I-Device
environments	O
,	O
this	O
project	O
investigates	O
the	O
use	O
of	O
data	O
capsules	O
.	O
</s>
<s>
As	O
one	O
of	O
the	O
applications	O
,	O
it	O
also	O
examines	O
the	O
fog	O
robot	B-Algorithm
system	O
to	O
preserve	O
the	O
privacy	O
and	O
security	O
of	O
the	O
data	O
.	O
</s>
<s>
Also	O
,	O
remote	O
monitoring	O
of	O
robots	B-Algorithm
and	O
fleet	O
formation	O
for	O
coordinated	O
movement	O
is	O
being	O
investigated	O
.	O
</s>
<s>
This	O
project	O
focusses	O
on	O
designing	O
novel	O
programming	O
models	O
for	O
Fog	O
applications	O
both	O
hardware	B-Architecture
and	O
operating	B-General_Concept
system	I-General_Concept
(	O
OS	O
)	O
mechanisms	O
including	O
communication	O
protocols	O
of	O
fog	O
nodes	O
.	O
</s>
<s>
These	O
fog	O
nodes	O
will	O
be	O
further	O
tested	O
real	O
time	O
on	O
robots	B-Algorithm
and	O
other	O
automation	B-Application
devices	O
.	O
</s>
