{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217190","sets":["1164:2036:10820:10893"]},"path":["10893"],"owner":"44499","recid":"217190","title":["クラウドロボティクスにおける異種デバイス間タスクマイグレーション機構の検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-03-03"},"_buckets":{"deposit":"8f854342-3ff9-44d0-9379-ee20275d37f9"},"_deposit":{"id":"217190","pid":{"type":"depid","value":"217190","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"クラウドロボティクスにおける異種デバイス間タスクマイグレーション機構の検討","author_link":["562240","562239"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"クラウドロボティクスにおける異種デバイス間タスクマイグレーション機構の検討"}]},"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":"公立はこだて未来大学"},{"subitem_text_value":"公立はこだて未来大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Future University Hakodate","subitem_text_language":"en"},{"subitem_text_value":"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/217190/files/IPSJ-SLDM22198036.pdf","label":"IPSJ-SLDM22198036.pdf"},"date":[{"dateType":"Available","dateValue":"2024-03-03"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-SLDM22198036.pdf","filesize":[{"value":"875.3 kB"}],"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":"f8fd8052-b83c-4f8b-8f57-86907cbbb5fc","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":"菅, 文人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松原, 克弥"}],"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":"高性能なクラウドサーバ(以降,クラウド)とロボットが連携することで,より高度な制御・知能処理を実現するクラウドロボティクスでは,計算負荷,ネットワーク状況やハードウェア制約などを考慮して,クラウドとロボットへタスクを分散配置することがシステム実現の要となる.しかし,実世界で稼働するロボットは,周辺環境変化の影響を受けて変化するバッテリー残量やネットワーク状況などを高精度に予測することが難しいため,あらかじめ最適なタスク配置を静的に決めることが難しいという課題がある.このような状況変化に合わせて,クラウドとロボット間でタスクを動的に再配置することが望まれるが,クラウドとロボットの CPU アーキテクチャは異なる場合が多く,CPU のレジスタ構成や命令セットの違いにより,実行中のタスクを異種デバイス間で移行することは容易ではない.本研究では,クラウドロボティクスで動作する ROS ノードを対象とした異種デバイス間マイグレーション機構の実現手法を検討する.既存の ROS ノードプログラムを WebAssembly にコンパイルするための WebAssembly 用 ROS フレームワークを実装することで,クラウドとロボットの両方で動作する ROS ノードを実現する.さらに,WebAssembly 仮想マシンに仮想マシン実行状態の保存復元機構を実装することで,実行状態をともなった ROS ノードの動的マイグレーションを可能にする.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","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":"36","bibliographicVolumeNumber":"2022-SLDM-198"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":217190,"updated":"2025-01-19T15:35:22.921811+00:00","links":{},"created":"2025-01-19T01:17:41.686086+00:00"}