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

Nobutaka Kito Kazuyoshi Takagi Naofumi Takagi

出版者

Information Processing Society of Japan

雑誌

IPSJ Transactions on System LSI Design Methodology (ISSN:18826687)

巻号頁・発行日

vol.12, pp.78-80, 2019 (Released:2019-08-01)

参考文献数

11

被引用文献数

4

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A conversion method of a netlist consisting of conventional logic gates for superconducting rapid single flux quantum (RSFQ) circuit realization is proposed. The method detects OR gates which can be replaced with confluence buffers (CBs) which converge their input pulses into their outputs. The detection problem of replaceable OR gates is treated as a SAT problem. Each OR gate requires clock input in RSFQ circuits. By replacing OR gates with CBs, wiring for clocking those OR gates are eliminated and the number of active devices known as Josephson junctions is reduced.