{"updated":"2025-01-19T12:46:07.442179+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00225561","sets":["1164:2822:11181:11182"]},"path":["11182"],"owner":"44499","recid":"225561","title":["関数型言語ElixirのROS 2クライアントライブラリRclexのIoTプラットフォームNervesへの対応"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-16"},"_buckets":{"deposit":"f119cd12-b181-4f1d-b001-4781a9f8e0e7"},"_deposit":{"id":"225561","pid":{"type":"depid","value":"225561","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"関数型言語ElixirのROS 2クライアントライブラリRclexのIoTプラットフォームNervesへの対応","author_link":["597107","597110","597108","597109"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"関数型言語ElixirのROS 2クライアントライブラリRclexのIoTプラットフォームNervesへの対応"},{"subitem_title":"Rclex on Nerves: a bare minimum and bulletproof platform for ROS 2","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":"2023-03-16","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"横河電機"},{"subitem_text_value":"さくらインターネット"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"Yokogawa Electric Corp.","subitem_text_language":"en"},{"subitem_text_value":"SAKURA internet inc.","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/225561/files/IPSJ-EMB23062054.pdf","label":"IPSJ-EMB23062054.pdf"},"date":[{"dateType":"Available","dateValue":"2025-03-16"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB23062054.pdf","filesize":[{"value":"2.2 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":"42"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"134b29ad-8334-4fc7-8418-c19a4f2ebf51","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":"細合, 晋太郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高瀬, 英希"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"出分, 卓矢"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"菊地, 俊介"}],"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":"著者らは，並行性能および堅牢性に優れた関数型言語 Elixir の ROS 2 クライアントライブラリである Rclex（https://github.com/rclex/rclex）の研究開発を OSS にて進めている．現行の Rclex は ROS 2 がインストールされた実行環境を想定しており，ROS 2 および 64 ビットの Ubuntu に強く環境依存している．本研究では，Rclex の移植性の向上および適用範囲の拡大のため，Elixir の IoT フレームワークである Nerves への対応に取り組む．具体的には，ROS 2 環境が整備された Docker イメージから，Rclex の実行に必要なライブラリを Nerves のファイルシステムに配置できるようにする．Rclex 環境を含む Nerves ファームウェアのビルドについては，専用の Mix タスクを提供し，通常の Elixir プロジェクトの開発と同じ流儀で実行できるようにする．産業用リアルタイム OS コントローラである e-RT3 Plus を用いた活用事例を示し，さらに定量的評価では Nerve s対応が通信性能に大きな影響を与えないことを確認する．本研究の成果である Rclex on Nerves によって，Rclex の適用範囲を IoT デバイス向けに拡大させることができる．Elixir 技術者にとって ROS 2 の通信技術の導入を容易化させるだけに留まらず，ROS 技術者にとっても最小限かつ堅牢性の高い ROS 2 プラットフォームを構築できることに貢献する．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-03-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"54","bibliographicVolumeNumber":"2023-EMB-62"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:25:04.115732+00:00","id":225561,"links":{}}