Testbed architecture. The Edge machine hosts Control, State, Motion Planning (MP), Commander and Digital Twin (DT) VNFs, while offering Digital Twin service and providing LTE connectivity to the Robot Machine. The latter hosts Driver VNF consuming the Edge-based Digital Twin service. (IMAGE)

Beijing Zhongke Journal Publising Co. Ltd.

Testbed architecture. The Edge machine hosts Control, State, Motion Planning (MP), Commander and Digital Twin (DT) VNFs, while offering Digital Twin service and providing LTE connectivity to the Robot Machine. The latter hosts Driver VNF consuming the Edge-based Digital Twin service.

Caption

The testbed is depicted in Figure 3 and consists of two main blocks: the edge host, which we will refer to as Edge Machine, in charge of offering computational resources to the DT service, as well as providing LTE connectivity to the second block of the architecture termed Robots Machine, i.e., the physical robots that conversely request and consume the service. The Edge Machine is equipped with 16GB RAM and an Intel(R) Core(TM) i7-7700HQ 4CPU@2.80 GHz processor. Conversely, the Robots Machine was supplied with 16GB RAM and an Intel(R) Core(TM) i7-8550U 4CPU@1.80 GHz processor.

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Beijing Zhongke Journal Publising Co. Ltd.

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