著者

Hideki Takase Tomoya Mori Kazuyoshi Takagi Naofumi Takagi

雑誌

情報処理学会論文誌 (ISSN:18827764)

巻号頁・発行日

vol.61, no.2, 2020-02-15

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The Robot Operating System (ROS) has attracted attention as a design platform for robot software development. One of the problems of ROS is that it is necessary to employ high-performance and power-hunger devices since ROS requires a Linux environment for operation. This paper proposes a novel solution called mROS, which is a lightweight runtime environment of ROS nodes, to execute robot software components on mid-range embedded devices. mROS consists of a real-time operating system (RTOS) and a TCP/IP protocol stack to provide a tiny ROS communication library. It provides connectivity from the edge node to the host and other nodes through the native ROS protocol. Additionally, we design mROS APIs that are compatible with ROS 1. Therefore, native ROS nodes can be ported from Linux-based systems to RTOS-based systems as mROS nodes. Experimental results confirmed that mROS meets the performance requirement for practical applications. Moreover, we showed the size of the library constituting mROS is small for target embedded devices. We further conducted a case study to validate the portability of mROS from ROS nodes. Our work is expected to contribute to the power saving and real-time performance enhancement of mobile robot systems.------------------------------This is a preprint of an article intended for publication Journal ofInformation Processing(JIP). This preprint should not be cited. Thisarticle should be cited as: Journal of Information Processing Vol.28(2018) (online)DOI http://dx.doi.org/10.2197/ipsjjip.28.150------------------------------

著者

Hiroki Kashiwazaki Hideki Takase Yuzo Taenaka Teruaki Yokoyama

雑誌

研究報告インターネットと運用技術(IOT) (ISSN:21888787)

巻号頁・発行日

vol.2022-IOT-58, no.15, pp.1-5, 2022-07-05

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Japan is a country where forests cover 70% of the land. Although smart forestry using IoT devices is being implemented, but its diffusion is limited due to the poor availability of power sources and the lack of mobile network base stations. Cell phone base stations require licenses and government permits for installation, and the costs of installation, operation, and removal are expensive. Even tower-type mobile base stations installed in the suburbs have a coverage area of only about 10 km, so even though the population coverage rate has already reached over 99%, the area coverage rate is still less than 70% for all carriers. The purpose of this research is to establish a method to extend Internet Protocol (IP) connectivity to non-electrified areas by patrolling autonomous vehicles using Low Power Wide Area (LPWA) communication systems, especially IEEE802.11ah as the core. and standardize new communication methods.