研究者詳細 - 枝廣　正人

論文 - 枝廣　正人

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モデルベース開発におけるクロスレイヤ設計手法のマルチコア上モータ制御実装への適用査読有り

竹松慎弥, 鍾兆前, 井上雅理, 横山静香, 小島流石, 近藤真己, ECソリューションイノベータ, 中本幸一, 安積卓也, 道木慎二, 本田晋也, 枝廣正人

組込みシステムシンポジウム(ESS2017) 頁：ポスター(26) 2017年8月

Robust and Accurate Monocular Vision-Based Localization in Outdoor Environments of Real-World Robot Challenge 査読有り

A. Sujiwo, E. Takeuchi, L. Y. Morales, N. Akai, H. Darweesh, Y. Ninomiya, and M. Edahiro

Journal of Robotics and Mechatronics 29 巻 ( 4 ) 頁： 685-696 2017年8月

Robust and accurate monocular vision-based localization in outdoor environments of real-world robot challenge 査読有り

Adi Sujiwo, Eijiro Takeuchi, Luis Yoichi Morales, Naoki Akai, Hatem Darweesh, Yoshiki Ninomiya, Masato Edahiro

Journal of Robotics and Mechatronics 29 巻 ( 4 ) 頁： 685 - 696 2017年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Fuji Technology Press

This paper describes our approach to perform robust monocular camera metric localization in the dynamic environments of Tsukuba Challenge 2016. We address two issues related to vision-based navigation. First, we improved the coverage by building a custom vocabulary out of the scene and improving upon place recognition routine which is key for global localization. Second, we established possibility of lifelong localization by using previous year’s map. Experimental results show that localization coverage was higher than 90% for six different data sets taken in different years, while localization average errors were under 0.2 m. Finally, the average of coverage for data sets tested with maps taken in different years was of 75%.

DOI： 10.20965/jrm.2017.p0685

Scopus

Pure Pursuit Revisited: Field Testing of Autonomous Vehicles in Urban Areas 査読有り

H. Ohta, N. Akai, E. Takeuchi, S. Kato and M. Edahiro

Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA'16) 頁： 7-12 2016年10月

GPU-accelerated Index Nested Loop Join on VoltDB 査読有り

N. Anh, S. Kato and M. Edahiro

Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA'16) WIP 巻頁： 6 2016年10月

A Feature Outlier Identification Method for Multi-object Tracking 査読有り

A. Monrroy, S. Kato and M. Edahiro

Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA'16) WIP 巻頁： 5 2016年10月

A Feature Outlier Identification Method for Multi-object Tracking 査読有り

A. Monrroy, S. Kato, M. Edahiro

Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA'16) WIP 巻頁： 5 2016年10月

GPU-accelerated Index Nested Loop Join on VoltDB 査読有り

N. Anh, S. Kato, M. Edahiro

Proceedings of the 4th IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA'16) WIP 巻頁： 6 2016年10月

A Scalability Analysis of Many Cores and On-chip Mesh Networks on the TILE-Gx Platform 査読有り

Y. Liu, H. Sasaki, S. Kato, and M. Edahiro

Proceedings of IEEE 10th International Symposium on Embedded Multicore/Many-core Systems-on-Chip (MCSoC-16) 頁： 46-52 2016年9月

Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge 査読有り

A. Sujiwo, T. Ando, E. Takeuchi, Y. Ninomiya and M. Edahiro

Journal of Robotics and Mechatronics 28 巻 ( 4 ) 頁： 479-490 2016年8月

Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge 査読有り

A. Sujiwo, T. Ando, E. Takeuchi, Y. Ninomiya, M. Edahiro

Journal of Robotics and Mechatronics 28 巻 ( 4 ) 頁： 479-490 2016年8月

Accelerated Deformable Part Models on GPUs 査読有り

M. Hirabayashi, S. Kato, M. Edahiro, K. Takeda, and S. Mita

IEEE Transactions on Parallel & Distributed Systems 27 巻 ( 6 ) 頁： 1589-1602 2016年6月

Accelerated Deformable Part Models on GPUs 査読有り

Manato Hirabayashi, Shinpei Kato, Masato Edahiro, Kazuya Takeda, Seiichi Mita

IEEE TRANSACTIONS ON PARALLEL AND DISTRIBUTED SYSTEMS 27 巻 ( 6 ) 頁： 1589 - 1602 2016年6月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE COMPUTER SOC

Object detection is a fundamental challenge facing intelligent applications. Image processing is a promising approach to this end, but its computational cost is often a significant problem. This paper presents schemes for accelerating the deformable part models (DPM) on graphics processing units (GPUs). DPM is a well-known algorithm for image-based object detection, and it achieves high detection rates at the expense of computational cost. GPUs are massively parallel compute devices designed to accelerate dataparallel compute-intensive workload. According to an analysis of execution times, approximately 98 percent of DPM code exhibits loop processing, which means that DPM could be highly parallelized by GPUs. In this paper, we implement DPM on the GPU by exploiting multiple parallelization schemes. Results of an experimental evaluation of this GPU-accelerated DPM implementation demonstrate that the best scheme of GPU implementations using an NVIDIA GPU achieves a speed up of 8.6x over a naive CPU-based implementation.

DOI： 10.1109/TPDS.2015.2453962

Web of Science

A scalability analysis of many cores and on-chip mesh networks on the TILE-Gx platform 査読有り

Ye Liu, Hiroshi Sasaki, Shinpei Kato, Masato Edahiro

2016 IEEE 10TH INTERNATIONAL SYMPOSIUM ON EMBEDDED MULTICORE/MANY-CORE SYSTEMS-ON-CHIP (MCSOC) 頁： 46 - 52 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

TILE-Gx processors that have emerged in recent years can be considered as the representative of prevailing manycore processors. The available TILE-Gx processors are featured with directory-based cache coherence protocol, two-dimensional mesh networks and up to 72 on-chip cores. In this paper, we study and analyze problems of performance scalability and network collision of many-core processors using the TILE-Gx36 processor.
We find that most multi-threaded programs from the PARSEC benchmark suite, which aim at shared-memory on-chip processors, cannot scale well on Linux as the number of cores increases. Meanwhile, applications compiled with Pthreads get affected by the approach of task-to-core assignment. The results also show that current multi-threaded applications do not entirely utilize the hardware resources on TILE-Gx36 processor. Moreover, OS designers might need to pay attention to the memory allocation if memory stripping is not supported. Because huge memory accesses to only one memory controller can burden the twodimensional mesh network. This observation appears if cores access the further memory controllers intensively as well.

DOI： 10.1109/MCSoC.2016.40

Web of Science

Parallel Design of Feedback Control Systems Utilizing Dead Time for Embedded Multicore Processors

Suzuki Yuta, Sata Kota, Kako Jun'ichi, Yamaguchi Kohei, Arakawa Fumio, Edahiro Masato

IEICE TRANSACTIONS ON ELECTRONICS E99.C 巻 ( 4 ) 頁： 491 - 502 2016年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人電子情報通信学会

This paper presents a parallelization method utilizing dead time to implement higher precision feedback control systems in multicore processors. The feedback control system is known to be difficult to parallelize, and it is difficult to deal with the dead time in control systems. In our method, the dead time is explicitly represented as delay elements. Then, these delay elements are distributed to the overall systems with equivalent transformation so that the system can be simulated or executed in parallel pipeline operation. In addition, we introduce a method of delay-element addition for parallelization. For a spring-mass-damper model with a dead time, parallel execution of the model using our technique achieves 3.4 times performance acceleration compared with its sequential execution on an ideal four-core simulation and 1.8 times on a cycle-accurate simulator of a four-core embedded processor as a threaded application on a real-time operating system.

DOI： 10.1587/transele.e99.c.491

Web of Science

CiNii Research

Pure Pursuit Revisited: Field Testing of Autonomous Vehicles in Urban Areas 査読有り

Hiroki Ohta, Naoki Akai, Eijiro Takeuchi, Shinpei Kato, Masato Edahiro

PROCEEDINGS OF 2016 IEEE 4TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, NETWORKS, AND APPLICATIONS (CPSNA) 頁： 7 - 12 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore, we apply some modifications to the Pure Pursuit[1] algorithm. We have also conducted the simulation and field operational tests again to evaluate these modifications.

DOI： 10.1109/CPSNA.2016.10

Web of Science

Simulinkモデルからのブロックレベル並列化査読有り

山口滉平，竹松慎弥，池田良裕，李瑞徳，鍾兆前，近藤真己（NEC情報システムズ），枝廣正人

組込みシステムシンポジウム (ESS2015) 頁：ポスター(21) 2015年10月

Simulinkモデルからのブロックレベル並列化査読有り

山口滉平, 竹松慎弥, 池田良裕, 李瑞徳, 鍾兆前, 近藤真己, C情報システムズ, 枝廣正人

組込みシステムシンポジウム (ESS2015) 頁：ポスター(21) 2015年10月

System-level design method for control systems with hardware-implemented interrupt handler 査読有り

Yuki Ando, Shinya Honda, Hiroaki Takada, Masato Edahiro

Journal of Information Processing 23 巻 ( 5 ) 頁： 532 - 541 2015年9月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Information Processing Society of Japan

In this paper, we propose a system-level design method for control systems that enables the development of Hardware-implemented interrupt handler. The increasing complexity of control systems has led to a rise in the frequency of interrupts. As a result, the processor load increases, leading to a deterioration in the latency of interrupt processing. To solve these problems, we require dedicated hardware that is activated by an interrupt and can directly access devices during its processing. The proposed method enables control systems with the above dedicated hardware to be developed using a model that abstracts an interrupt, interrupt processing, and communication between the control processing and devices. We have developed a system-level design tool which automatically generates the target implementation from the model. Case studies on a motor control system show that the proposed method reduces the processor load, improves the latency of the interrupt processing, and enables the design space exploration for the control system.

DOI： 10.2197/ipsjjip.23.532

Scopus

System-level Design Method for Control Systems with Hardware-implemented Interrupt Handler 査読有り

Y. Ando, S. Honda, H. Takada and M. Edahiro

Journal of Information Processing 23 巻 ( 5 ) 頁： 532-541 2015年9月

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