Abstract: A technique for analyzing Quality of Experience, QoE, of a delay critical robotic application in a cloud robotics system is disclosed, the robotic application involving use of a cloud based service by a robot, the service being provided to the robot from a cloud using a connection over a mobile communication network. A method implementation of the technique comprises triggering (S202) determining whether a QoE measure associated with the robotic application exceeds a threshold to assess whether QoE degradation is present, and, when it is determined that QoE degradation is present, triggering (S204) identifying a root cause for the QoE degradation based on one or more performance indicators observed within the mobile communication network and associated with the connection.

Abstract: Embodiments of the present disclosure provide a method for transmission of data for controlling a plurality of industrial devices in an industrial environment. The plurality of industrial devices being connected to a user equipment (UE). The method is performed by a network node in the wireless communication network. The method includes acquiring control messages intended for controlling the plurality of industrial devices, wherein each industrial device is associated with a device identifier. The method includes generating a data packet comprising the control messages, each control message being associated to a corresponding device identifier. The method further includes transmitting the data packet to the UE for distribution of the control messages to the plurality of industrial devices.

Abstract: Embodiments of the present disclosure provide a method for optimizing a planned movement of one or more industrial devices in an industrial environment. The method is performed by a network node in the wireless communication network. The method includes acquiring at least one movement path for the one or more industrial devices, each movement path including one or more segments indicative of movement data. The method includes determining a Quality of Service (QoS) requirement for each segment. The method further includes determining for each segment whether the determined QoS requirement fulfills an estimated QoS maintained by the network node. When it has been determined that the QoS requirement for each segment fulfills the estimated QoS, the method further includes transmitting the at least one movement path to the one or more industrial devices.

Abstract: Protective working channels useful in ablative procedures may include a cannula having a shield at a distal end of the cannula. The shield may be sized, shaped, and positioned to cover a first portion of an ablative tip of an ablation probe introducible through the cannula and to expose a second, different portion of the ablative tip of the ablation probe. An electrically insulating material may be disposed on at least one surface of the cannula at least at the distal end of the cannula, including the shield. When using the protective working channels, an ablative tip of an ablation probe may be positioned proximate to a target tissue within the subject, with the ablative tip partially exposed at a distal end of the cannula and the ablative tip interposed between the target tissue and a shield at the distal end of the cannula.

Abstract: An apparatus for parameter transformation between a robotic device and a controller for the robotic device is presented. The apparatus is configured to receive at least one non-transformed parameter indicative of at least one of a position and a velocity of or for the robotic device, wherein the non-transformed parameter is received from the robotic device or the controller, respectively. The apparatus is further configured to transform the received non-transformed parameter to a transformed parameter using a transformation between an ideal parameter domain of the controller and a real parameter domain of the robotic device, the ideal parameter domain including ideal parameters processable by the controller and the real parameter domain including real parameters measurable at the robotic device and capable of deviating from the associated ideal parameters.

Abstract: A robotic device control system is described. The robotic device control system includes: a radio base station for wireless communication with a robotic device; a beamforming controller coupled or integral to the radio base station for controlling beamforming between the radio base station and the robotic device; and a robotic device controller coupled to the beamforming controller, wherein the robotic device controller is configured to control the robotic device via the radio base station; wherein the robotic device control system is configured to provide an instruction, derived by the robotic device control system based on radio beam propagation information of the wireless communication between the radio base station and the robotic device, to the beamforming controller for controlling beamforming between the radio base station and the robotic device.

Abstract: The invention relates to a method for controlling a robotic device (50) with modified control commands transmitted over a wireless network, wherein the robotic device (50) comprises a plurality of joints (53), wherein each joint represents one degree of freedom of the robotic device, the method comprising at a trajectory modification entity (100): —determining a load of the wireless network (30), —receiving a plurality of control commands controlling a planned trajectory of the robotic device (50) from a robotic control entity (70), each of the control commands configured to control one degree of freedom of a first number of degrees of freedom addressed by the plurality of control commands, —determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load, —determining the modified control commands based on the reduced number of degrees of freedom, wherein the modified control commands address a limited number of degrees of freedom

Abstract: A technique for providing status information relating to a wireless data transmission that is used to control an industrial process by a remote controller is presented, wherein the remote controller is coupled to a field device of the industrial process via a wireless communication network supporting the wireless data transmission. An apparatus implementation of the technique comprises a first interface configured to be coupled to one of a user equipment, a radio access network and a core network of the wireless communication network, and a second interface compliant with an industrial process communication protocol used for communication between the remote controller and the at least one first field device. The apparatus is configured to receive the status information via the first interface and provide the status information, or information derived therefrom, via the second interface towards the remote controller.

Abstract: A controller for controlling wireless command transmission to a robotic device is described. The controller is configured to obtain an action that is to be performed by a robotic device and to determine a quality of control, QoC, level that is associated with the action. The controller is further configured to trigger a setting of at least one transmission parameter for a wireless transmission of a command pertaining to the action. The transmission parameter setting is dependent on the QoC level determined for the action.

Abstract: A device (150) is arranged on a source side of a wireless link (50) and receives data traffic from one or more source devices (201, 202, 203). The device (150) forwards the data traffic via the wireless link (50) and via a further device (11), which is arranged on a destination side of the wireless link (50), towards one or more destination devices (21, 22, 23, 24). The device (150) receives redundancy information from the further device (11). The redundancy information indicates redundant payload which is common to multiple data frames in the data traffic forwarded by the device (150). Based on the redundancy information, the device (150) removes the indicated redundant payload from at least a part of the data traffic to be forwarded by the device (150).

Abstract: A client computing device (115) determines a desired adjustment to a transmission rate of a media stream (245) received from the content server device (110), and encodes the desired adjustment to the transmission rate in an object ordering priority (255) field of a request (250) for a media portion (215). The client computing device (115) sends the request (250) to the content server device (110) to adjust the transmission rate of the media stream (245) with respect to the media portion (215). The content server device (110) receives the request (25) for the media portion (215) from the client computing device (115), and adjusts the transmission rate of the media stream (245) based on the object ordering priority (255). The content server device (110) transmits the media portion (215) to the client computing device (115) via the media stream (245) at the adjusted transmission rate.

Abstract: A technique for determining an available delay budget for transmission of a packet by a base station to a user equipment, UE, in a cellular network is disclosed. A method implementation of the technique is performed by the base station and includes receiving a packet from a sending node, the packet including a timestamp set by the sending node when processing the packet, triggering determining a latency of the packet based on a difference between a time determined by the base station upon receipt of the packet and the timestamp set by the sending node in the packet, the base station and the sending node being synchronized in time, and triggering determining an available delay budget for transmission of the packet to the UE based on the latency of the packet.

Abstract: Deployment devices include a locking mechanism configured to secure a medical device to the deployment device. Methods of operating a deployment device include securing a medical device positioned at least partially within at least one cannula of the deployment device with a locking mechanism and releasing the medical device and securing at least a portion of the at least one cannula of the deployment device with the locking mechanism.

Abstract: A technique for performing Quality of Service, QoS, control regarding control messages communicated from a robot controller to a robot via a mobile communication network in a cloud robotics system is disclosed. A method implementation of the technique comprises triggering applying a mapping of control messages communicated from the robot controller to the robot to QoS classes among a plurality of data session related QoS classes supported by the mobile communication network for transmission of traffic via the mobile communication network, wherein each of the control messages is mapped to a respective QoS class depending on a Quality of Control, QoC, tolerance associated with the respective control message.

Abstract: A method is provided for operating a resource reservation entity configured to reserve radio resources in a cellular network for user entities connected to the cellular network, the user entities comprising a first user entity connected to a robotic device, and a second user entity not connected to any robotic device, the method including: receiving a first message indicating future resource needs as needed by the first user entity to control a first task to be carried out by the robotic, reserving the radio resources for the user entities, wherein in the reserving, a priority assigned to the first user entity is increased for duration of a first time period relative to the priority assigned to the second user entity, and the priority assigned to the first user entity in the first time period is higher than the priority assigned to the second user entity.

Abstract: The invention relates to a method for controlling a robotic device (50) with modified control commands transmitted over a wireless network, wherein the robotic device (50) comprises a plurality of joints (53), wherein each joint represents one degree of freedom of the robotic device, the method comprising at a trajectory modification entity (100): -determining a load of the wireless network (30), -receiving a plurality of control commands controlling a planned trajectory of the robotic device (50) from a robotic control entity (70), each of the control commands configured to control one degree of freedom of a first number of degrees of freedom addressed by the plurality of control commands, -determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load, -determining the modified control commands based on the reduced number of degrees of freedom, wherein the modified control commands address a limited number of degrees of freedom

Abstract: A technique for providing reliable control of a robot (304) in a cloud robotics system (300) is disclosed. A computing unit configured to execute a concealment component (100) for concealing delayed or lost commands sent to the robot (304) by a robot controller (302) in the cloud robotics system (300) comprises at least one processor and at least one memory, wherein the at least one memory contains instructions executable by the at least one processor such that the concealment component (100) is operable to detect a missing command expected to be received by the robot (304) from the robot controller (302), the missing command detected based on a delay or loss of the command in a communication path between the robot (304) and the robot controller (302), generate a substitutional command corresponding to an expected instruction of the missing command, and send the substitutional command to the robot (304).

Abstract: We generally describe a method comprising: processing (S602) data relating to a path of movement of a robotic device (122) comprising or coupled to a sensor (124) in radio communication with a cloud platform (112); and updating (S604), based on the processed data, the path of movement to improve the radio communication.

Abstract: The present disclosure relates to a first Web server (102, 204, 60, 70) and a second Web server (108, 214, 80, 90), and methods therein for controlling of a robot device over a cloud interface. A hyper-text transfer protocol, HTTP, request for a trajectory between a start position and a goal position is sent (S120, S230, 302, 402) towards the second Web server. One or more calculated trajectories are obtained (S122, 304) based on information as received encoded in the request. A HTTP response is sent (306) towards the first WEB server, comprising one or more calculated trajectories. Executing (S126, S266; 308, 406) of a trajectory at least based said one or more of the received trajectories is performed by the first Web server (102, 204, 60, 70). A scalable robot device control method is thus proposed, which is advantageously uses stored calculated trajectories between start and goal positions, for the robot device.

Abstract: A technique for analyzing Quality of Experience, QoE, of a delay critical robotic application in a cloud robotics system is disclosed, the robotic application involving use of a cloud based service by a robot, the service being provided to the robot from a cloud using a connection over a mobile communication network. A method implementation of the technique comprises triggering (S202) determining whether a QoE measure associated with the robotic application exceeds a threshold to assess whether QoE degradation is present, and, when it is determined that QoE degradation is present, triggering (S204) identifying a root cause for the QoE degradation based on one or more performance indicators observed within the mobile communication network and associated with the connection.