{"created":"2025-01-19T01:19:19.082329+00:00","updated":"2025-01-19T14:58:01.484798+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00218977","sets":["1164:1867:10898:10972"]},"path":["10972"],"owner":"44499","recid":"218977","title":["hCT(high-resolution Callback Tracer): ROSにおけるNode実行の細粒度計測機構の設計と実装"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-07-20"},"_buckets":{"deposit":"535bba3f-9ce8-42d2-b027-b66bd5cd2900"},"_deposit":{"id":"218977","pid":{"type":"depid","value":"218977","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"hCT(high-resolution Callback Tracer): ROSにおけるNode実行の細粒度計測機構の設計と実装","author_link":["570554","570551","570553","570552"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"hCT(high-resolution Callback Tracer): ROSにおけるNode実行の細粒度計測機構の設計と実装"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"監視","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-07-20","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"芝浦工業大学"},{"subitem_text_value":"株式会社Ales"},{"subitem_text_value":"東海大学"},{"subitem_text_value":"芝浦工業大学"}]},"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/218977/files/IPSJ-OS22156003.pdf","label":"IPSJ-OS22156003.pdf"},"date":[{"dateType":"Available","dateValue":"2024-07-20"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-OS22156003.pdf","filesize":[{"value":"1.3 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":"11"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"b447e1ca-1ece-45f2-9ebd-7f4aa5dddeff","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":"福井, 誠人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"石綿, 陽一"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大川, 猛"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"菅谷, みどり"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10444176","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":"2188-8795","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"ロボットソフトウェア開発を支援する目的で Robot Operating System (ROS)ミドルウェアが普及している．ROS により高度なロボットアプリケーションやロボット同士の協調動作といった複雑度の高いシステムの構築が容易となった．このような高度なアプリケーションではロボットへの処理負荷が高まり，ロボットの応答性が低下することが懸念されている．しかし ROS ではシステムの負荷状況を詳細に計測する手法を提供していない．そこで，本研究では ROS を使うロボットアプリケーションを対象としてアプリケーションによらない汎用的な手法での実行時間の計測およびデータ収集を行うhCT（high-resolution Callback Tracer）の設計・実装を提案する．また，提案システムによるオーバーヘッドを測定し検証を行った．ROS ミドルウェアを用いた場合と比較し，提案システムでは実行時間に対して平均で 0.059ms のオーバーヘッドが認められたが Node 数や呼び出し回数に対しては無関係であった．このことから，提案システムではロボットアプリケーションの実行へ余計な負荷をかけることなくシステムの負荷を測定することが可能であることを示した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"9","bibliographic_titles":[{"bibliographic_title":"研究報告システムソフトウェアとオペレーティング・システム（OS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-07-20","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicVolumeNumber":"2022-OS-156"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":218977,"links":{}}