| Presentation | 2015-06-19 ROS compliant componentizing of image processing hardware on a Programmable SoC Kazushi Yamashina, Takeshi Ohkawa, Kanemitsu Ootsu, Takashi Yokota, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In recent years, robots are expected to be autonomous, and their control software become complex and highly functional. The robots have a problem of processing performance shortage because they are not able to equip with a high performance processor due to battery operation. On the other hand, by realizing hardware dedicated for a robot processing using an FPGA, it is expected to improve the performance of robot systems. But, it is difficult to introduce an FPGA into a robot system since development of FPGA has high cost compared to software development. In this study, we propose componentizing of FPGA hardware in order to promote the introduction of an FPGA into a robot system. The component is compliant to ROS, which is becoming mainstream of a software platform for development assistance of a robot system. This paper reports a study of ROS compliant componentizing using programmable SoC. As a case study, an example of ROS compliant component of labeling hardware implemented an FPGA is described. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | ROS / programmable SoC / component oriented development / FPGA / labeling |
| Paper # | RECONF2015-8 |
| Date of Issue | 2015-06-12 (RECONF) |
| Conference Information | |
| Committee | RECONF |
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| Conference Date | 2015/6/19(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kyoto University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | the 10th anniversary celebration of RECONF: Reconfigurable Systems, etc. |
| Chair | Minoru Watanabe(Shizuoka Univ.) |
| Vice Chair | Masato Motomura(Hokkaido Univ.) / Yuichiro Shibata(Nagasaki Univ.) |
| Secretary | Masato Motomura(Toshiba) / Yuichiro Shibata(Univ. of Tsukuba) |
| Assistant | Kazuya Tanikagawa(Hiroshima City Univ.) / Takefumi Miyoshi(e-trees.Japan) |
| Paper Information | |
| Registration To | Technical Committee on Reconfigurable Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | ROS compliant componentizing of image processing hardware on a Programmable SoC |
| Sub Title (in English) | |
| Keyword(1) | ROS |
| Keyword(2) | programmable SoC |
| Keyword(3) | component oriented development |
| Keyword(4) | FPGA |
| Keyword(5) | labeling |
| 1st Author's Name | Kazushi Yamashina |
| 1st Author's Affiliation | Utsunomiya University(Utsunomiya Univ.) |
| 2nd Author's Name | Takeshi Ohkawa |
| 2nd Author's Affiliation | Utsunomiya University(Utsunomiya Univ.) |
| 3rd Author's Name | Kanemitsu Ootsu |
| 3rd Author's Affiliation | Utsunomiya University(Utsunomiya Univ.) |
| 4th Author's Name | Takashi Yokota |
| 4th Author's Affiliation | Utsunomiya University(Utsunomiya Univ.) |
| Date | 2015-06-19 |
| Paper # | RECONF2015-8 |
| Volume (vol) | vol.115 |
| Number (no) | RECONF-109 |
| Page | pp.pp.41-46(RECONF), |
| #Pages | 6 |
| Date of Issue | 2015-06-12 (RECONF) |