{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217189","sets":["1164:2036:10820:10893"]},"path":["10893"],"owner":"44499","recid":"217189","title":["並行性制御法によるROS TFの高品質化"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"0e047a15-3070-49be-9e29-38acd9b51ad0"},"_deposit":{"id":"217189","pid":{"type":"depid","value":"217189","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"並行性制御法によるROS TFの高品質化","author_link":["562236","562237","562238","562235"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"並行性制御法によるROS TFの高品質化"},{"subitem_title":"Make ROS TF high quality in concurrency control method","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット","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":"慶應義塾大学環境情報学部"},{"subitem_text_value":"筑波大学システム情報系情報工学域"},{"subitem_text_value":"筑波大学システム情報系情報工学域"},{"subitem_text_value":"慶應義塾大学環境情報学部"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Faculty of Environment and Information Studies, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, University of Tsukuba","subitem_text_language":"en"},{"subitem_text_value":"Department of Computer Science, University of Tsukuba","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Environment and Information Studies, Keio University","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/217189/files/IPSJ-SLDM22198035.pdf","label":"IPSJ-SLDM22198035.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-03"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-SLDM22198035.pdf","filesize":[{"value":"1.2 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":"10"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"b3f73e7a-944e-4e9d-aa61-9e49f9a76470","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":"荻原, 湧志"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"萬, 礼応"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大矢, 晃久"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"川島, 英之"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11451459","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":"2188-8639","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"Robot Operating System (ROS) はロボットソフトウェア用のミドルウェアソフトプラットフォームであり，近年多くの研究用ロボットで用いられている．TF ライブラリは ROS で頻繁に使用されるパッケージであり，各座標系間の変換を有向木構造として管理し，効率的な座標変換情報の登録，座標変換の計算を可能にした．この有向木構造には非効率な並行性制御によりアクセスが完全に逐次化され，アクセスするスレッドが増えるに従ってパフォーマンスが低下する問題，及び座標変換の計算時にその仕様によって最新のデータを参照しないという問題があることがわかった．そこで，我々はデータベースの並行性制御法における細粒度ロッキング法，及び 2PL を応用することにより，これら問題を解決した．提案手法では既存手法と比べ最大 257 倍のスループット，最大 282 倍高速化したレイテンシ，最大 132 倍のデータ鮮度となることを示した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"10","bibliographic_titles":[{"bibliographic_title":"研究報告システムとLSIの設計技術（SLDM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-03-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"35","bibliographicVolumeNumber":"2022-SLDM-198"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":217189,"updated":"2025-01-19T15:35:24.006039+00:00","links":{},"created":"2025-01-19T01:17:41.629003+00:00"}