Robot Software Platform with Safety and Cost Consideration

• Project/Area Number: 24700035
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Software
• Research Institution: Osaka University (2013-2014); Ritsumeikan University (2012)
• Principal Investigator: AZUMI Takuya 大阪大学, 基礎工学研究科, 助教 (40582036)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
• Keywords: 組込みソフトウェア / ロボット / コンポーネントベース開発 / 組込みシステム / ロボットシステム / プラットフォーム / システムソフトウェア / ソフトウェア開発効率化 / 計算機システム / 情報システム

Outline of Final Research Achievements

Recently, robot technologies have been popular such as rescue robots in the disaster fields and industrial robots in the factories. However, there are problems with safety and cost. The purpose of this research is to realize a safety robot platform with low resource consumption. This platform provides a collaboration between two component technologies: TECS (TOPPERS Embedded Component System) component and RTC (Robot Technology Component). We evaluated the platform using a brushless motor which is more difficult to control than a normal motor.

Research Products

• [Journal Article] TECS Components Providing Functionalities of OSEK Specifications for ITRON OS (2014)
  • Author(s): Atsushi Ohno, Takuya Azumi, and Nobuhiko Nishio
  • Journal Title: IPSJ Volume: Vol.22 No.4
  • NAID: 130004699515
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] 分散インテント: 組込み機器連携を実現するAndroid インテントの分散拡張フレームワーク (2014)
  • Author(s): 長原裕希, 伊藤孝宏, 安積卓也, 西尾信彦
  • Journal Title: 電子情報通信学会和文論文D Volume: Vol.J97-D No.4 Pages: 845-856
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] GPU オンチップマイクロコントローラへのデータ転送処理オフロード (2014)
  • Author(s): 藤居 祐輔, 安積 卓也, 西尾 信彦, 加藤 真平
  • Journal Title: 情報処理学会論文誌 Volume: Vo.55 No.2 Pages: 1048-1058
  • NAID: 110009665017
  • Peer Reviewed
• [Presentation] mruby on TECS: Component-based Framework for Running Script Program (2015)
  • Author(s): Takuya Azumi, Yuki Nagahara, Hiroshi Oyama, and Nobuhiko Nishio
  • Organizer: IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC 2015)
  • Place of Presentation: Auckland, New Zealand
  • Year and Date: 2015-04-14 – 2015-04-16
• [Presentation] Integration Framework for Legacy and Generated Code in MBD (2014)
  • Author(s): Atsushi Ohno, Takayuki Hikawa, Nobuhiko Nishio, and Takuya Azumi
  • Organizer: WiP session of the 26th Euromicro Conference on Real-Time Systems (ECRTS14)
  • Place of Presentation: Madrid, Spain
  • Year and Date: 2014-07-08 – 2014-07-11
• [Presentation] Data Transfer Matters for GPU Computing (2013)
  • Author(s): Yusuke Fujii, Takuya Azumi, Nobuhiko Nishio, Shinpei Kato, and Masato Edahiro
  • Organizer: The 19th IEEE International Conference on Parallel and Distributed Systems
  • Place of Presentation: Seoul, Korea
• [Presentation] Distributed Intent: Android Framework for Networked Devices Operation (2013)
  • Author(s): Yuki Nagahara, Hiroshi Oyama, Takuya Azumi, and Nobuhiko Nishio
  • Organizer: the IEEE 10th International Conference on Embedded Software and Systems
  • Place of Presentation: Sydney, Australia
• [Presentation] Prototyping Commodity ICT for Mobility CPS (2013)
  • Author(s): Yuki Iida, Yusuke Fujii, Takuya Azumi, Nobuhiko Nishio, Shinpei Kato, Tsuyoshi Hamada, Satoshi Kagami, Nobuo Kawaguchi, and Kazuya Takeda
  • Organizer: WiP session of the 1st IEEE International Conference on Cyber-Physical Systems, Networks, and Applications
  • Place of Presentation: Taipei, Taiwan
• [Presentation] Exploring Microcontrollers in GPUs", the 4th Asia-Pacific Workshop on Systems (2013)
  • Author(s): Yusuke Fujii, Takuya Azumi, Nobuhiko Nishio, and Shinpei Kato
  • Organizer: the 4th Asia-Pacific Workshop on Systems
  • Place of Presentation: Singapore
• [Presentation] TECSCE: HW/SW Codesign Framework for Data Parallelism Based on Software Component (2013)
  • Author(s): Takuya Azumi, Yasaman Samei Syahkal, Yuko Hara-Azumi, Hiroshi Oyama, and Rainer Domer
  • Organizer: International Embedded Systems Symposium
  • Place of Presentation: Paderborn, Germany
• [Presentation] HR-TECS: Component Technology for Embedded Systems with Memory Protection (2013)
  • Author(s): Takuya Ishikawa, Takuya Azumi, Hiroshi Oyama and Hiroaki Takada
  • Organizer: the 16th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing
  • Place of Presentation: Paderborn, Germany
• [Presentation] OpaqueRPCを用いたRTMとTECS間通信の実現
  • Author(s): 八幡 尚文, 安積 卓也, 西尾 信彦
  • Organizer: 組込みシステム シンポジウム2012
  • Place of Presentation: 国立オリンピック記念青少年総合センター, 東京都
• [Presentation] Enhancement of Real-time Processing by Cooperation of RTM and TECS
  • Author(s): Yawata Naofumi, Azumi Takuya, and Nishio Nobuhiko
  • Organizer: Work-in-Progress Session of the 18th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA2012)
  • Place of Presentation: Seoul, Korea
• [Remarks] TOPPERSプロジェクト TECS
  • URL: https://www.toppers.jp/tecs.html
• [Remarks] TOPPERSプロジェクト TECS
  • URL: http://www.toppers.jp/tecs.html