A runtime environment and design methodology for improvements of energy efficiency and productivity of robot systems

• Project/Area Number: 18K18024
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 60040:Computer system-related
• Research Institution: Kyoto University
• Principal Investigator: Takase Hideki 京都大学, 情報学研究科, 准教授 (50633690)
• Project Period (FY): 2018-04-01 – 2021-03-31
• Project Status: Completed (Fiscal Year 2020)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2020: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2019: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2018: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
• Keywords: 組込みシステム / ロボティクス / 通信ミドルウェア / 協調設計 / FPGA / 分散システム / オペレーティングシステム / システムレベル設計技術

Outline of Final Research Achievements

This research project have established a fundamental technology that realizes mobile service robot systems with power efficiency and real-time performance. Focusing on the utilization of embedded devices equipped with heterogeneous SoC, we proposed mROS, which is a lightweight runtime environment for ROS nodes for improving power saving and real-time performance, and ZytleBot, which is SW/HW co-design platform for developing robot systems.

Academic Significance and Societal Importance of the Research Achievements

本研究では，ヘテロジニアスSoCの搭載された組込みデバイスにおいて，電力効率とリアルタイム性に優れたロボットシステムを探求した．ロボットシステムのための実行プラットフォーム技術およびシステムレベルの設計方法論を並行的に確立したことで，次世代の情報社会を支える新たなサービスロボット・アプリケーションの創出機会を提供できると考える．

Research Products

• [Journal Article] A Functionality Expansion of the Lightweight Runtime Environment mROS for the User-defned Message Types (2021)
  • Author(s): 祐源英俊，高瀬英希
  • Journal Title: 情報処理学会論文誌 Volume: 62 Issue: 3 Pages: 917-930
  • DOI: 10.20729/00210259
  • NAID: 170000184446
  • Year and Date: 2021-03-15
  • Peer Reviewed
• [Journal Article] mROS: A Lightweight Runtime Environment of ROS 1 nodes for Embedded Devices (2020)
  • Author(s): Takase Hideki、Mori Tomoya、Takagi Kazuyoshi、Takagi Naofumi
  • Journal Title: Journal of Information Processing Volume: 28 Issue: 0 Pages: 150-160
  • DOI: 10.2197/ipsjjip.28.150
  • NAID: 130007798640
  • ISSN: 1882-6652
• [Presentation] ROS (Robot Operating System) の紹介とIoT/IOT分野への展開 (2021)
  • Author(s): 高瀬英希
  • Organizer: RICC-PIoT workshop 2021
  • Invited
• [Presentation] An FPGA Accelerator for Bayesian Network Structure Learning with Iterative Use of Processing Elements (2020)
  • Author(s): Yasuhiro Nitta and Hideki Takase
  • Organizer: 2020 International Conference on Field-Programmable Technology (ICFPT)
  • Int'l Joint Research
• [Presentation] リアルタイムOSによるROSノード軽量実行環境の定量的評価 (2020)
  • Author(s): 祐源英俊，高瀬英希
  • Organizer: 情報処理学会 第56回組込みシステム研究発表会
• [Presentation] ベイジアンネットワーク構造学習の演算回路の繰り返し利用によるFPGAアクセラレータ (2020)
  • Author(s): 新田泰大，高瀬英希
  • Organizer: 電子情報通信学会 リコンフィギャラブルシステム研究会
• [Presentation] ZytleBot: FPGA Integrated Development Platform for ROS Based Autonomous Mobile Robot (2019)
  • Author(s): Yasuhiro Nitta, Sou Tamura, Hidetoshi Yugen and Hideki Takase
  • Organizer: 2019 International Conference on Field-Programmable Technology (ICFPT)
  • Int'l Joint Research
• [Presentation] A functionality expansion of the lightweight runtime environment mROS for the user defined message types (2019)
  • Author(s): Hidetoshi Yugen, Hideki Takase, Kazuyoshi Takagi and Naofumi Takagi
  • Organizer: Asia Pacific Conference on Robot IoT System Development and Platform (APRIS)
  • Int'l Joint Research
• [Presentation] Supporting TOPPERS/ASP3 Kernel to mROS to Improve its Capability (2019)
  • Author(s): Hiroi Imanishi, Hideki Takase, Kazuyoshi Takagi and Naofumi Takagi
  • Organizer: Asia Pacific Conference on Robot IoT System Development and Platform (APRIS)
  • Int'l Joint Research
• [Presentation] ZytleBot: FPGA integrated development platform for ROS based autonomous mobile robot (2019)
  • Author(s): Yasuhiro Nitta, Sou Tamura and Hideki Takase
  • Organizer: 29th International Conference on Field Programmable Logic and Applications (FPL)
  • Int'l Joint Research
• [Presentation] FPGA integrated development platform for ROS based autonomous mobile robot, (2019)
  • Author(s): Yasuhiro Nitta, Sou Tamura and Hideki Takase
  • Organizer: International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies (HEART)
  • Int'l Joint Research
• [Presentation] mROS: A Lightweight Runtime Environment for Robot Software Components onto Embedded Devices (2019)
  • Author(s): Hideki Takase, Tomoya Mori, Kazuyoshi Takagi and Naofumi Takagi
  • Organizer: International Symposium on Highly-Efficient Accelerators and Reconfigurable Technologies (HEART)
  • Int'l Joint Research
• [Presentation] the 19th International Forum on Embedded MPSoC and Multicore (MPSoC’19) (2019)
  • Author(s): Hideki Takase
  • Organizer: mROS: How to Integrate ROS Components into Embedded Devices
  • Int'l Joint Research / Invited
• [Presentation] ROSベースの自律移動ロボットにおけるFPGA統合開発プラットフォーム (2019)
  • Author(s): 田村爽，新田泰大，高瀬英希，高木一義，高木直史
  • Organizer: 電子情報通信学会リコンフィギャラブルシステム研究会
• [Presentation] プログラマブルSoCを活用した自動運転ロボットにおける交通信号検出タスクの設計空間探索 (2019)
  • Author(s): 新田泰大，田村爽，高瀬英希，高木一義，高木直史
  • Organizer: 情報処理学会組込みシステム研究会
• [Presentation] ROS and mROS: How to accelerate the development of robot systems and integrate embedded devices (2019)
  • Author(s): Hideki Takase
  • Organizer: 24th Asia and South Pacific Design Automation Conference (ASPDAC 2019)
  • Int'l Joint Research / Invited
• [Presentation] mROS and ZytleBot: Design Platforms for Embedded Robot Systems (2019)
  • Author(s): Hideki Takase, Yasuhiro Nitta and So Tamura
  • Organizer: Design, Automation & Test in Europe 2019 (DATE 2019)
  • Int'l Joint Research
• [Presentation] SWORDSフレームワークにおけるSW/HW通信方式の自動選択に向けた検討 (2018)
  • Author(s): 新田泰大，高瀬英希，高木一義，高木直史
  • Organizer: 電子情報通信学会リコンフィギャラブルシステム研究会
• [Presentation] エリアカバレッジタスクにおける回転動作を考慮した移動ロボットの動作計画決定手法 (2018)
  • Author(s): 矢野泰生，高瀬英希，高木一義，高木直史
  • Organizer: 情報処理学会組込みシステムシンポジウム2018
• [Presentation] ZytleBot: ROSxFPGAを実現するロボット開発プラットフォーム (2018)
  • Author(s): 田村爽，新田泰大，高瀬英希
  • Organizer: 第20回 組込みシステム技術に関するサマーワークショップ
• [Presentation] ロボットソフトウェア軽量実行環境mROSの最新状況と今後のロードマップ (2018)
  • Author(s): 今西洋偉，祐源英俊，松井健太郎，高瀬英希
  • Organizer: 第20回 組込みシステム技術に関するサマーワークショップ
• [Presentation] mROS：組込みデバイス向けのROS1ノード軽量実行環境 (2018)
  • Author(s): 高瀬英希，森智也
  • Organizer: ROSCon JP 2018
  • Invited
• [Presentation] Work-in-Progress: Design Concept of a Lightweight Runtime Environment for Robot Software Components onto Embedded Devices (2018)
  • Author(s): Hideki Takase, Tomoya Mori, Kazuyoshi Takagi and Naofumi Takagi
  • Organizer: The International Conference on Embedded Software (EMSOFT)
  • Int'l Joint Research
• [Presentation] A Study on Introducing FPGA to ROS based Autonomous Driving System (2018)
  • Author(s): Yasuhiro Nitta, Sou Tamura and Hideki Takase
  • Organizer: 2018 International Conference on Field-Programmable Technology (FPT 2018)
  • Int'l Joint Research
• [Presentation] Core State Aware Slack Gathering Scheduling for Embedded Real-Time Systems (2018)
  • Author(s): Kentaro Matsui, Hideki Takase, Kazuyoshi Takagi and Naofumi Takagi
  • Organizer: Asia Pacific Conference on Robot IoT System Development and Platform (APRIS 2018)
  • Int'l Joint Research
• [Presentation] A motion planning method for mobile robot considering rotational motion in area coverage task (2018)
  • Author(s): Taiki Yano, Hideki Takase, Kazuyoshi Takagi and Naofumi Takagi
  • Organizer: Asia Pacific Conference on Robot IoT System Development and Platform (APRIS 2018)
  • Int'l Joint Research