{"links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00233424","sets":["1164:1579:11464:11527"]},"path":["11527"],"owner":"44499","recid":"233424","title":["マイクロコントローラ向けROS2の低速通信路を持つ小規模組込みシステム向けの効率化"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-03-14"},"_buckets":{"deposit":"48aa6ab0-f539-4345-8a87-a18e0b25e046"},"_deposit":{"id":"233424","pid":{"type":"depid","value":"233424","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"マイクロコントローラ向けROS2の低速通信路を持つ小規模組込みシステム向けの効率化","author_link":["634015","634014","634016","634017"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"マイクロコントローラ向けROS2の低速通信路を持つ小規模組込みシステム向けの効率化"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"協調システム","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-03-14","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"名古屋大学院情報学研究科"},{"subitem_text_value":"南山大学理工学部／名古屋大学院情報学研究科"},{"subitem_text_value":"名古屋大学院情報学研究科／ルネサスエレクトロニクス株式会社"},{"subitem_text_value":"名古屋大学院情報学研究科"}]},"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/233424/files/IPSJ-ARC24256039.pdf","label":"IPSJ-ARC24256039.pdf"},"date":[{"dateType":"Available","dateValue":"2026-03-14"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC24256039.pdf","filesize":[{"value":"2.0 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":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"e73d7062-76e8-4456-bfe1-c5420398675a","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"小坂, 直輝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"本田, 晋也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大谷, 寿賀子"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"枝廣, 正人"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10096105","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":"2188-8574","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"ROS2（Robot Operating System 2）は自動運転やロボットの開発プラットフォームとして近年注目されている．ROS2 では，通信ミドルウェアとして DDS（Data Distribution Service）を採用している．DDS は Linux 等の POSIX 仕様の OS が動作するリソースが豊富かつネットワークを持つアプリケーションプロセッサでの動作を前提としているものが多く，ロボットの末端の制御を行うような小規模マイコンで動作させることは困難である．これらの問題を解決するため，小規模マイコンで ROS2 互換のプラットフォームを実現する micro-ROS が開発されている．micro-ROS においては，DDS が動作するアプリケーションプロセッサが，RTOS やベアメタルで動作する小規模マイコンとの通信を DDS-XRCE と呼ばれるプロトコルで行い，他の ROS2 ノードとのやり取りを代行する．本研究では，アプリケーションプロセッサと小規模マイコン間を低速な通信路で接続した際の micro-ROS のデータ通信機能における課題について，データの到達を保証する QoS 設定のフレキシビリティ面の課題と，高頻度のデータ送信に関する課題を示した上で解決策を提案し評価する．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告システム・アーキテクチャ（ARC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-03-14","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"39","bibliographicVolumeNumber":"2024-ARC-256"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T10:06:09.482138+00:00","created":"2025-01-19T01:34:51.516831+00:00","id":233424}