{"links":{},"id":186424,"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00186424","sets":["1164:2822:9431:9432"]},"path":["9432"],"owner":"11","recid":"186424","title":["ROS2における通信特性に応じたDDS実装の動的選択機構の実現"],"pubdate":{"attribute_name":"公開日","attribute_value":"2018-02-28"},"_buckets":{"deposit":"4b18ee28-79b5-4306-a85e-cd8f333d6859"},"_deposit":{"id":"186424","pid":{"type":"depid","value":"186424","revision_id":0},"owners":[11],"status":"published","created_by":11},"item_title":"ROS2における通信特性に応じたDDS実装の動的選択機構の実現","author_link":["418021","418019","418022","418020"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ROS2における通信特性に応じたDDS実装の動的選択機構の実現"},{"subitem_title":"A Mechanism of Dynamic Binding a Proper DDS Implementation for Optimizing Inter-node Communication in ROS2","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ミドルウェア/教育","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2018-02-28","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"公立はこだて未来大学システム情報科学部"},{"subitem_text_value":"公立はこだて未来大学システム情報科学部"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"School of Systems Information Science, Future University Hakodate","subitem_text_language":"en"},{"subitem_text_value":"School of Systems Information Science, Future University Hakodate","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/186424/files/IPSJ-EMB18047002.pdf","label":"IPSJ-EMB18047002.pdf"},"date":[{"dateType":"Available","dateValue":"2020-02-28"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB18047002.pdf","filesize":[{"value":"2.3 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"42"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"18addfc5-32c3-4e63-924c-fd520ed76dc3","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2018 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"森田, 錬"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松原, 克弥"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Ren, Morita","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Katsuya, Matsubara","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12149313","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-868X","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"適用範囲の拡大にともなって開発されている ROS2 (Robot Operating System 2.0) は，通信基盤に DDS (Data Distribution Service) 仕様を採用し，システムの目的に応じて DDS 実装を選択できる．現在，複数のベンダが DDS 実装を提供しており，共有メモリ使用の有無など DDS 実装毎に特徴が異なる．現在の ROS2 では，システム毎に一つの DDS 実装しか指定できないため，特徴の異なる通信毎に最適な DDS 実装へ切り替えることができない．本研究では，ROS2 におけるモジュール間通信の性能向上を目的とし，通信特性に応じた DDS 実装の動的選択機構を提案する．本提案機構は，通信開始時にデータサイズや通信範囲などの通信特性を推定し，最適な DDS 実装を自動的に選択する．本稿では，通信性能とオーバーヘッドの観点で現 ROS2 実装との比較評価を行い，DDS 実装を動的に選択することの有意性を示す．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"Nowadays, ROS2 (Robot Operating System 2.0) has been being developed from scratch in order to support new applications. One of the most significant change in ROS2 is to follow the DDS standard specification as an interface of the inter-module communication. Currently some of companies and OSS communities provides DDS implementations which have different characteristics such as using the shared memory. The current implementation of ROS2 allows to specify only one DDS implementation to be used in a system through application code or the environment variable at running, nevertheless each communication may have different characteristics and each DDS implementation may be optimized for different communication types. This research proposes a mechanism to allow multiple DDS implementations existing in a system and to dynamically bind one into each communication. The proposed mechanism can estimate communication area, maximum data size, requirement of the QoS control, for each communication channel and then it can select a proper DDS implementation. This thesis shows comparison results of performance and overhead of the current available DDS implementations to evaluate effectiveness of this proposal, describes implementation of the mechanism.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2018-02-28","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicVolumeNumber":"2018-EMB-47"}]},"relation_version_is_last":true,"weko_creator_id":"11"},"created":"2025-01-19T00:53:22.962310+00:00","updated":"2025-01-20T02:35:07.139985+00:00"}