{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217145","sets":["1164:1579:10818:10892"]},"path":["10892"],"owner":"44499","recid":"217145","title":["FPGAを用いた遠隔ロボットハンドの制御の高速化"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"176fde50-5f79-4963-a9a9-1e280745c4b6"},"_deposit":{"id":"217145","pid":{"type":"depid","value":"217145","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"FPGAを用いた遠隔ロボットハンドの制御の高速化","author_link":["562015","562014"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"FPGAを用いた遠隔ロボットハンドの制御の高速化"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット・セキュリティ","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-03-03","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東海大学大学院情報通信学研究科情報通信学専攻"},{"subitem_text_value":"東海大学情報通信学部組込みソフトウェア工学科"}]},"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/217145/files/IPSJ-ARC22248057.pdf","label":"IPSJ-ARC22248057.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-03"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC22248057.pdf","filesize":[{"value":"1.4 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":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"51afd228-6aa7-4447-a84a-2bdb067d71fd","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"王, 魯迪"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大川, 猛"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10096105","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":"2188-8574","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"座標データの処理を FPGA で高速化することで，離れた場所からロボットハンドを操作することを可能とする高速制御方式を提案する．FPGA の使用により，ロボットハンドの遅延の短縮，座標算出の性能向上，消費電力の低減を効果的に実現することを目指す．具体的には，手の座標情報をモーションキャプチャ装置によって収集し，FPGA による処理で座標・角度・加速度計算を高速化し，更にロボットハンドを ROS2 (Robot Operating System version 2) を使って統合することで，遠隔ロボットハンド制御の高速化が可能となると考えられる．座標計算処理時間の初期評価を行ったところ，指の関節間角度の計算時間が ARM プロセッサで 5ms，AMD Ryzen で 3ms に対し，FPGA を用いた場合には 2ms という結果が得られた．一方，座標計算処理 ROS2 ノードの通信遅延時間は 21ms であり，遅延要求の 24ms には収まるものの，通信遅延の削減が課題である．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"5","bibliographic_titles":[{"bibliographic_title":"研究報告システム・アーキテクチャ（ARC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-03-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"57","bibliographicVolumeNumber":"2022-ARC-248"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":217145,"updated":"2025-01-19T15:36:21.690679+00:00","links":{},"created":"2025-01-19T01:17:38.996013+00:00"}