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Paper Abstract and Keywords
Presentation 2015-06-19 14:35
ROS compliant componentizing of image processing hardware on a Programmable SoC
Kazushi Yamashina, Takeshi Ohkawa, Kanemitsu Ootsu, Takashi Yokota (Utsunomiya Univ.) RECONF2015-8
Abstract (in Japanese) (See Japanese page) 
(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) 
(in English) ROS / programmable SoC / component oriented development / FPGA / labeling / / /  
Reference Info. IEICE Tech. Rep., vol. 115, no. 109, RECONF2015-8, pp. 41-46, June 2015.
Paper # RECONF2015-8 
Date of Issue 2015-06-12 (RECONF) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Notes on Review This article is a technical report without peer review, and its polished version will be published elsewhere.
Download PDF RECONF2015-8

Conference Information
Committee RECONF  
Conference Date 2015-06-19 - 2015-06-20 
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. 
Paper Information
Registration To RECONF 
Conference Code 2015-06-RECONF 
Language Japanese 
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  
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Keyword(8)  
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.)
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Speaker Author-1 
Date Time 2015-06-19 14:35:00 
Presentation Time 25 minutes 
Registration for RECONF 
Paper # RECONF2015-8 
Volume (vol) vol.115 
Number (no) no.109 
Page pp.41-46 
#Pages
Date of Issue 2015-06-12 (RECONF) 


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