{"updated":"2025-01-19T12:46:11.306849+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00225558","sets":["1164:2822:11181:11182"]},"path":["11182"],"owner":"44499","recid":"225558","title":["クラウド連携を対象としたアーキテクチャ中立なROSランタイムの検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-16"},"_buckets":{"deposit":"06d6f956-46c0-4b56-aff7-81fb69bea1f5"},"_deposit":{"id":"225558","pid":{"type":"depid","value":"225558","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"クラウド連携を対象としたアーキテクチャ中立なROSランタイムの検討","author_link":["597098","597097","597096"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"クラウド連携を対象としたアーキテクチャ中立なROSランタイムの検討"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"仮想化・ロボット","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2023-03-16","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"},{"subitem_text_value":"東京大学"}]},"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"},{"subitem_text_value":"The University of Tokyo","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/225558/files/IPSJ-EMB23062051.pdf","label":"IPSJ-EMB23062051.pdf"},"date":[{"dateType":"Available","dateValue":"2025-03-16"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB23062051.pdf","filesize":[{"value":"1.1 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":"b3435e0c-fb73-4dc1-b73b-83f48ef72d63","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"柿本, 翔大"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松原, 克弥"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高瀬, 英希"}],"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":"ロボットソフトウェアの開発において，Robot Operating System（ROS）の利用が拡大している．ROS は，クラウドサーバと連携した分散型のロボットシステムの構築にも有用であるが，各機能モジュールであるノードの配置はシステム稼働前に決める必要がある．しかし，システム稼働前に推測困難な状況変化により，システム起動時に決めたノード配置が最適でなくなる可能性がある．さらに，クラウドとロボットでは，CPU アーキテクチャが異なる場合が多く，稼働中のノードを実行状態とともにクラウド・ロボット間で再配置することは技術的に難しいという課題がある．本研究では，ROS ノードの動的配置機構の検討を目的として，組込みデバイス向け ROS 2 ランタイム実装である mROS 2 を WebAssembly ランタイム上で動作させることで，アーキテクチャ中立な ROS ノード実行状態を実現する．本稿では，mROS 2 を WebAssembly 上で動作させるために実装すべき機能を明らかにして，WebAssembly 化による実行時性能への影響を実験結果により示す．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-03-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"51","bibliographicVolumeNumber":"2023-EMB-62"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:25:03.944169+00:00","id":225558,"links":{}}