Does anybody know how to use ROS/ROS2 for the multi-agent system? I know there are other software for multi agent, but I heard that ROS is suitable for this. Does anybody know the specific ideas?
ROS is a middleware framework for creating a distributed system of nodes based on the publish/subscribe methodology. It can certainly be used for a multi-agent system. You should read through the ros wiki. It has a lot of great info and is a very easy way to start learning the ideas.
we're currently working on a BDI framework for ROS2 targeting Multi Agent Systems (MAS), thus facilitating its development. Repository is here and user's documentation here. The plans are dynamically computed via a PDDL 2.1 based planning system (which is PlanSys2). It's still under development, so there can be bugs here and there. We're currently try to solve them and then the idea is to lean toward a more flexible reasoning behaviour, while keeping in consideration real time constraints and/or computational feasibility of the plan execution.
If that might fulfill your needs, give it a look and share your feedback!
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I am trying to ilustrate the concept of distributed applications using Erlang. My system currently has one server and one ATM. I try to keep it as simple as possible.
For the moment my application runs locally. I am using gen_server for a client-server relationship between the banking server and the ATM. I also have a gen_fsm module to suggest different states my ATM has. In order to store any data i use the dict module (I don't want to make things more complicated using databases). To keep processes alive (the gen_server and gen_fsm) I am using a supervisor process. I've wrapped all modules as an application but for the moment it's all local. Any ideas would be highly appreciated.
I was thinking to start the same application on two different nodes and to illustrate the distributed concept to use some kind of failover/takeover mechanism but I have no ideas on what modules to use.
Is it mandatory to use target systems?(at some point i must do a hot upgrade to the application)
What's the correct order to do these things: first to upgrade and then distribute?
I would be very grateful if someone could give me some ideas on how to accomplish all those things.
I never tried it myself, but docs seem to point to:
Erlang Release Handling (11.3 Distributed Systems).
It's a really short paragraph showing the sync_nodes command, I suggest you to read the whole chapter because I noticed that often the concepts of concurrency and distribution are so persavive in Erlang that problems like yours have already been solved and included in OTP.
BTW, Erlang user guide also has a whole chapter dedicated to Distributed Applications that seems related to distributed applications config options, I think that the two should do the trick.
Hope this helps, if you need more help just ask!
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I am looking at Erlang for a future version of a distributed soft-real-time hosted web-based telephony app (i.e. Erlang looks like absolutely the perfect choice for this kind of app). I come from a .NET background and the current version of this app uses a combination of C#, WCF and JQuery to deliver the service. I now need Erlang to allow me to add extra 9s to my up-time and to allow me to get more bang for my server bucks.
Previously I'd set up a development process here combining VS.NET, GIT, TeamCity and auto-deployment of MSI files to the various environments we maintain. It's not perfect, but we're all now pretty comfortable with it. I'm wondering whether a process like we have is even appropriate for such a radically different technology stack (LYME)?
I'm confident that all of the programming challenges we previously solved using .NET can be better solved in less code with Erlang, so I'm completely sold on the language choice. What I don't yet understand from reading the Pragmatic and O'Reilly books on Erlang, is how I should adapt my software engineering and application life-cycle management (ALM) processes to suit the new platform. I see that in-place code updates could make my (and my testing and ops team's) life much easier (compared to the god-awful misery of trying to deploy MSI files across a windows network) but I am not sure how things should change when I use Erlang.
How would you:
do continuous integration in Erlang (is it commonly used?)
use it during a QA cycle (we often run concurrent topic branches using GIT, that get their own mini-QA cycle, so they all get deployed into a test environment)
build and distribute your code to DEV, TEST, UAT, STAGING, and PROD environments
integrate code generation phases into your build cycle (we currently use MSBUILD + T4 templates)
centralize logging for a bunch of different servers (we currently use Log4Net, MSMQ, etc)
do alerting with tools like SCOM
determine whether someone/something has misconfigured your production servers
allow production hot-fixes only after adequate QA (only by authorized personnel)
profile the performance (computation and communication) of your apps
interact with windows-based active directory servers
I guess I need to know what worked for you and why! What tools and frameworks did you use? What did you try that failed? What would you do differently if you could start over, knowing what you know now?
Whoa, what a long post. First, you should be aware that the 99.9% and better kool-aid is a bit dangerous to drink while blind. Yes, you can get some astounding stability figures, but you need to write your program in a way facilitating this. It does not come for free. It does not happen by magic either. Your application must be designed in a way such that other subsystems recover. OTP will help you a lot - but it still takes time to learn.
Continuous integration: Easily done. If you can call rebar or make through your build-bot you are probably set here already. Look into eunit, cover and Erlang QuickCheck (the mini variant is free for starters) - all can be run from rebar.
QA Cycle: I have not had any problems here. Again, if using rebar you can build embedded releases that are minimized erlang vm's you can copy anywhere and run (they are self-contained). You can even hot deploy fixes to such a system pretty easily by altering the code path a bit so you have an overlay of newer fixes. Your options are numerous. Git already help you here a lot.
Environmentalization: Easily done.
Logging centralization: Look into SASL and the error_logger. You can do anything you want here.
Alerting: The system can be probed for all you need (introspection is strong in Erlang). But you might have to code a bit to hook it up to the system of your choice.
Misconfiguration: Configuration files are Erlang terms. If it can be computed, it can be done.
Security: Limit who has access. It is a people problem, not a technical one in my opinion.
Profiling: cprof, cover, eprof, fprof, instrument + a couple of distributed systems for doing the same. Random sampling is also easy (introspection is strong in Erlang).
Windows interaction: Dunno. (Bias: last time I used windows professionally was in 1998 or so).
Some personal observations:
Your largest problem might end up being that you try to cram Erlang into your existing process and it might resist. It is a new environment, so new approaches will be needed in places and you should expect to adapt and workaround limitations you find along the way. The general consensus is that it can work (it is working for several big sites).
It looks like you have a well-established and strict process. How much is that process allowed to be sacrificed to give way to a new kind of thinking?
Are your programmers willing to throw out almost all of their OO knowledge? If not, you will end with a social problem rather than a technical one. If they are like me however, they will cheer, clap in their hands and get a constant high by working with an interesting language solving an interesting problem in a new way.
How many Erlang-experienced programmers do you have? If you have rather few, then better cut your teeth on some smaller subsystems first and then work towards the larger goal. Getting the full benefit of the system takes months if not years. Getting partial benefit can be had in weeks though.
How can i write a cloud-aware application? e.g. an application that takes benefit of being deployed on cloud. Is it same as an application that runs or a vps/dedicated server? if not then what are the differences? are there any design changes? What are the procedures that i need to take if i am to migrate an application to cloud-aware?
Also i am about to implement a web application idea which would need features like security, performance, caching, and more importantly free. I have been comparing some frameworks and found that django has least RAM/CPU usage and works great in prefork+threaded mode, but i have also read that django based sites stop to respond with huge load of connections. Other frameworks that i have seen/know are Zend, CakePHP, Lithium/Cake3, CodeIgnitor, Symfony, Ruby on Rails....
So i would leave this to your opinion as well, suggest me a good free framework based on my needs.
Finally thanks for reading the essay ;)
I feel a matrix moment coming on... "what is the cloud? The cloud is all around us, a prison for your program..." (what? the FAQ said bring your sense of humour...)
Ok so seriously, what is the cloud? It depends on the implementation but usual features include scalable computing resource and a charge per cpu-hour, storage area etc. So yes, it is a bit like developing on your VPS/a normal server.
As I understand it, Google App Engine allows you to consume as much as you want. The back-end resource management is done by Google and billed to you and you pay for what you use. I believe there's even a free threshold.
Amazon EC2 exposes an API that actually allows you to add virtual machine instances (someone correct me please if I'm wrong) having pre-configured them, deploy another instance of your web app, talk between private IP ranges if you wish (slicehost definitely allow this). As such, EC2 can allow you to act like a giant load balancer on the front-end passing work off to a whole number of VMs on the back end, or expose all that publicly, take your pick. I'm not sure on the exact detail because I didn't build the system but that's how I understand it.
I have a feeling (but I know least about Azure) that on Azure, resource management is done automatically, for you, by Microsoft, based on what your app uses.
So, in summary, the cloud is different things depending on which particular cloud you choose. EC2 seems to expose an API for managing resource, GAE and Azure appear to be environments which grow and shrink in the background based on your use.
Note: I am aware there are certain constraints developing in GAE, particularly with Java. In a minute, I'll edit in another thread where someone made an excellent comment on one of my posts to this effect.
Edit as promised, see this thread: Cloud Agnostic Architecture?
As for a choice of framework, it really doesn't matter as far as I'm concerned. If you are planning on deploying to one of these platforms you might want to check framework/language availability. I personally have just started Django and love it, having learnt python a while ago, so, in my totally unbiased opinion, use Django. Other developers will probably recommend other things, based on their preferences. What do you know? What are you most comfortable with? What do you like the most? I'd go with that. I chose Django purely because I'm not such a big fan of PHP, I like Python and I was comfortable with the framework when I initially played around with it.
Edit: So how do you write cloud-aware code? You design your software in such a way it fits on one of these architectures. Again, see the cloud-agnostic thread for some really good discussion on ways of doing this. For example, you might talk to some services on GAE which scale. That they are on GAE (example) doesn't really matter, you use loose coupling ideas. In essence, this is just a step up from the web service idea.
Also, another feature of the cloud I forgot to mention is the idea of CDN's being provided for you - some cloud implementations might move your data around the globe to make it more efficient to serve, or just because that's where they've got space. If that's an issue, don't use the cloud.
I cannot answer your question - I'm not experienced in such projects - but I can tell you one thing... both CakePHP and CodeIgniter are designed for PHP4 - in other words: for really old technology. And it seems nothing is going to change in their case. Symfony (especially 2.0 version which is still in heavy beta) is worth considering, but as I said on the very beginning - I can not support this with my own experience.
For designing applications for deployment for the cloud, the main thing to consider if recoverability. If your server is terminated, you may lose all of your data. If you're deploying on Amazon, I'd recommend putting all data that you need persisted onto an Elastic Block Storage (EBS) device. This would be data like user generated content/files, the database files and logs. I also use the EBS snapshot on a 5 day rotation so that's backed up itself. That said, I've had a cloud server up on AWS for over a year without any issues.
As for frameworks, I'm giving Grails a try at the minute and I'm quite enjoying it. Built to be syntactically similar to Rails but runs on the JVM. It means you can take advantage of all the Java goodness, like threading, concurrency and all the great libraries out there to build your web application.
I need to deploy a Delphi app in an environment that needs centralized data and file storage system (for document imaging) but has multiple branch offices with relatively poor inter connectivity. I believe a 3 tier database application is the best way to go so I can provide a rich desktop experience with relatively light-weight data transfer needs. So far I have looked briefly at Delphi Datasnap, kbmMW and Remobjects SDK. It seems that kbmMW and Remobjects SDK use the least bandwidth. Does anyone have any experience in deploying any of these technologies in a challenging environments with a significant number of users (I need to support 700+)? Thanks!
Depends if you are tied to remote datasets. If you aren't dataset bound then SOAP would likely be a good choice. Or, what I've done is write my own protocol that is similar to SOAP in nature. This was done before SOAP was standard and I'm glad I did - this gives you the ability to control more of the flow of data. It's given that if you have poor connectivity then you will be spending time supporting it. It's very nice if it's your own code you are supporting versus having to wait on a vendor. (Although KBM and REM are known to be pretty good vendors.)
Personal note: 700 users in a document imaging application over poor connectivity sounds like a mess. Spend the money on upgrading connectivity as it'll be cheaper in the long run.
Both kbmMW and RO SDK offer binary format, which is more compact than SOAP format,specially you are working with documents.
RO sdk seems to offer more GUI tools to help you doing your services.
Also give a RealThinClient SDK a look, it's a lightweight remoting framework.
But what ever framework you go with, your design of work will make it fast or slow, I have some applications working on slow 128kb lines, and it's working perfect without any user complain, but I don't do a large transfer for files.
One thing to remember...its not the number of users, but the number of them using the resources at the same time that will be the issue. Attempt to develop your application "server stateless" if at all possible, this will allow greater flexibility in the long term if you find you have to add more servers to the pool to support your customer base. The hardest thing about n-tier is scaling beyond the first server...plan on that from the start. Each request should not know anything about a prior request...or at the very least the request should have a way of passing the context so the server can look it up in a session table or something.
Personally, I would recommend RemObjects. I have used it with good results.
I don't know if it's the very best / most efficient (glad you asked this question!), but I've had good results w/RemObjects SDK + DataAbstract. The latter made much of the plumbing details less involved, which was helpful. Still implementing, but so far so good.
If you really wanna go "low-bandwidth" use BSD Sockets API - that'll give you full control over what's being sent and there you can send as little information as you want. Of course then you'll have to implement all the tiers yourself, but hey - that's still an option :D
I think Cacti is great except for the fact that it takes hours to configure it. There is a lot that you can do with it but I find it a little overly complicated. A script collecting disk utilization recently broke on me (for no apparent reason), I spent 3 hours and got no where.
I would like a tool like Cacti but super easy to setup. I have some familiarity wit RRD so a little bit of manual work is okay.
To make this more programming related: An alternative to a different software package would be to develop something custom built. Has anybody attempted this? What pieces to you use to built which parts?
There are a slew of tools out there:
Cacti
Ganglia
Zabbix
Hyperic
Monit
Reconnoiter
Graphite
Each focus on different aspects of usability. Reconnoiter and Graphite were born out of specialized needs and wanting greater resolution than RRD can provide.
I suggest you do take another look at Cacti before building yourself. Create templates in cacti for your hosts and your graphs. Then use the built in CLI tools to automate. This way for each host, you do not need to click through the GUI.
I think this is what I want:
http://collectd.org
Collectd in combination with drraw looks like it will fit my needs.
I don't know if this will meet your needs, but you might also want to look at RRDUtil:
http://www.tnpi.biz/internet/manage/rrdutil/
Unfortunately they are all very time-consuming to learn and configure. You have to spend time to understand all the principles used and read sample configurations.
No short-cuts on this chore :-D
We use gmond and ganglia.