Explanipedia

Partitioned Scheduling for DAG Tasks Considering Probabilistic Execution Time Open

Fuma Omori, Atsushi Yano, Takuya Azumi · 2025

Autonomous driving systems, critical for safety, require real-time guarantees and can be modeled as DAGs. Their acceleration features, such as caches and pipelining, often result in execution times below the worst-case. Thus, a probabilist…

Autoware Toolbox 2: Model-Based Benchmark Suite of ROS 2 Nodes for Autonomous Driving System Open

Xiaoyu Cheng, Hideki Fujimoto, Takuya Azumi · 2025

The rapid development of autonomous driving technology calls for efficient and reliable methods for performance evaluation and optimization. This paper proposes Autoware Toolbox 2, which is a benchmark suite for the autonomous driving syst…

TECS/Rust-OE: Optimizing Exclusive Control in Rust-Based Component Systems for Embedded Devices Open

N Yoshimura, Hiroshi Ōyama, Takuya Azumi · 2025

The diversification of functionalities and the development of the IoT are making embedded systems larger and more complex in structure. Ensuring system reliability, especially in terms of security, necessitates selecting an appropriate pro…

Work in Progress: Middleware-Transparent Callback Enforcement in Commoditized Component-Oriented Real-Time Systems Open

Takahiro Ishikawa-Aso, Atsushi Yano, Takuya Azumi, Shinpei Kato · 2025

Real-time scheduling in commoditized component-oriented real-time systems, such as ROS 2 systems on Linux, has been studied under nested scheduling: OS thread scheduling and middleware layer scheduling (e.g., ROS 2 Executor). However, by e…

SIM-LDM: Local Dynamic Map Generation Framework using Autonomous Driving Simulator Open

Shunsuke Ito, Ryuichi Okamura, Chaoran Zhao, Takuya Azumi · 2025

Exploring Power Usage and Inference Speed Evaluation of Low-power Clustered Many-core Platforms Open

Masahiro Hasumi, Takuma Yabe, Takuya Azumi · 2025

High-performance platforms capable of running deep neural network (DNN)-based applications are necessary for embedded systems such as autonomous-driving systems. These systems must be compact and power-efficient, rather than relying on ric…

Dedicated Processor Allocation Scheduling for High-load Tasks on Clustered Many-core Processors Open

Yutaro Nozaki, R. Okamura, Ryotaro Koike, Takuya Azumi · 2025

AUTOSAR AP and ROS 2 Collaboration Framework for Development in Cloud Environment Open

Ryudai Iwakami, Bo Peng, Hiroshi Hanyu, Tasuku Ishigooka, Takuya Azumi · 2025

The development of autonomous vehicles is progressing rapidly. For practical implementation, platforms ensuring real-time performance, safety, and security are crucial. AUTOSAR adaptive platform (AUTOSAR AP) meets these needs and is widely…

Dynamic Cluster Selection DAG Scheduling for Clustered Many-Core Processor Considering Inter-Cluster Communication Open

Yutaro Nozaki, Fuma Omori, Takuya Azumi · 2025

The advancement of embedded systems, such as autonomous driving systems, has led to a need for platforms that can cope with severe real-time constraints. In this context, research on real-time scheduling of Directed Acyclic Graph (DAG) usi…

Deadline Miss Rate Scheduling in DAG Considering Probabilistic Execution Time Open

Hayate Toba, Daichi Yamazaki, Takuya Azumi · 2025

Autonomous driving systems have been extensively researched for safety. To ensure safety, a strict deadline is enforced before sensor data influences vehicle control. A common approach to this issue is Directed Acyclic Graph (DAG) scheduli…

Response Time Analysis With Cause-Effect Chain Considering DAG Structure and High-Load Tasks Open

Tadamasa Kobayashi, R. Okamura, Takuya Azumi · 2025

Recent developments in autonomous driving systems highlight the significance of response time analysis. In autonomous driving systems, the complexities of response time analysis stem from different periods of tasks, tasks with high computa…

Work-in-Progress: Multi-Deadline DAG Scheduling Model for Autonomous Driving Systems Open

Atsushi Yano, Takuya Azumi · 2024

Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency st…

AUTOSAR AP and ROS 2 Collaboration Framework Open

Ryudai Iwakami, Bo Peng, Hiroshi Hanyu, Tasuku Ishigooka, Takuya Azumi · 2024

The field of autonomous vehicle research is advancing rapidly, necessitating platforms that meet real-time performance, safety, and security requirements for practical deployment. AUTOSAR Adaptive Platform (AUTOSAR AP) is widely adopted in…

TECS/Rust: Memory-safe Component Framework for Embedded Systems Open

N Yoshimura, Hiroshi Ōyama, Takuya Azumi · 2024

As embedded systems grow in complexity and scale due to increased functional diversity, component-based development (CBD) emerges as a solution to streamline their architecture and enhance functionality reuse. CBD typically utilizes the C …

3D Point Cloud Object Detection on Edge Devices for Split Computing Open

T. Noguchi, Takuya Azumi · 2024

The field of autonomous driving technology is rapidly advancing, with deep learning being a key component. Particularly in the field of sensing, 3D point cloud data collected by LiDAR is utilized to run deep neural network models for 3D ob…

HRMP3+TECS v2: Component Framework for Reliable Multiprocessor Real-time Operating System Open

Yoshitada Takaso, N Yoshimura, Hiroshi Ōyama, Hiroaki Takada, Takuya Azumi · 2024

Deadline Miss Early Detection Method for Mixed Timer-Driven and Event-Driven DAG Tasks Open

Atsushi Yano, Takuya Azumi · 2023

Self-driving systems have a hard real-time nature, and the control commands of the vehicle must be output before the end-to-end deadline using sufficiently new data. It must also have the functionality to quickly shift to a safe state in t…

ECHONET Lite Framework Based on Embedded Component Systems Open

Feng Qi, Jie Ying Jiang, Hiroshi Ōyama, Hiroaki Nagashima, Takuya Azumi · 2022

The large number and many types of electrical equipment in modern house-holds pose major challenges to developers. To increase the breadth of smart homes, improving the development e°ciency of electrical equipment in smart homes is essenti…

LET Paradigm Scheduling Algorithm Considering Parallel Processing on Clustered Many-core Processor Open

Atsushi Yano, Shingo Igarashi, Takuya Azumi · 2022

Embedded systems such as self-driving systems require computing platforms with high computing power and low power consumption. Multi/many-core platforms meet these requirements effectively. However, for hard real-time applications, multipl…

CQGA-HEFT: Q-learning-based DAG Scheduling Algorithm Using Genetic Algorithm in Clustered Many-core Platform Open

Atsushi Yano, Takuya Azumi · 2022

Embedded systems, e.g., self-driving systems, are becoming larger and more complex, and the performance requirements of such platforms are increasing. Clustered many-core processors satisfy these requirements because they provide an isolat…

Mapping Method Usable with Clustered Many-core Platforms for Simulink Model Open

Yutaro Kobayashi, Kentaro Honda, Sasuga Kojima, Hiroshi Fujimoto, Masato Edahiro , et al. · 2022

Multi/many-core processors are being increasingly used to reduce power consumption and improve performance. The use of model-based development for embedded systems has also been increasing. Relative to these trends, the model-based paralle…

Dynamic Linking Method for an Embedded Component System Open

Katsuya Yamauchi, Kawada Tomoaki, Oyama Hiroshi, Takuya Azumi, Hiroaki Takada · 2021

Case Study: ECHONET Lite Applications based on Embedded Component Systems Open

Jiang JieYing, Oyama Hiroshi, Hiroaki Nagashima, Takuya Azumi · 2021

CoSAM: Co-Simulation Framework for ROS-based Self-driving Systems and MATLAB/Simulink Open

Keita Miura, Shota Tokunaga, Yuki Horita, Yasuhiro Oda, Takuya Azumi · 2021

In recent year, autonomous vehicles have been developed worldwide. ROS, which is a middleware suitable for the development of a self-driving system, is rarely used in the automotive industry. MATLAB/Simulink, which is a development softwar…

Accurate Contention-aware Scheduling Method on Clustered Many-core Platform Open

Shingo Igarashi, Takuro Fukunaga, Takuya Azumi · 2021

Embedded systems such as self-driving systems require a computing platform with high computing power and low power consumption. Multi-/many-core platforms definitely meet these requirements. However, for hard real-time applications, multip…

Anomaly Prediction Based on Machine Learning for Memory-Constrained Devices Open

Yuto Kitagawa, Tasuku Ishigooka, Takuya Azumi · 2019

This paper proposes an anomaly prediction method based on k-means clustering that assumes embedded devices with memory constraints. With this method, by checking control system behavior in detail using k-means clustering, it is possible to…

IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink Open

Shota Tokunaga, Yuki Horita, Yasuhiro Oda, Takuya Azumi · 2019

This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is be…

一般道自動運転向けソフトウェアプラットフォーム Open

Takuya Azumi · 2018

Component-Based mruby Platform for IoT Devices Open

Takuro Yamamoto, Takuma Hara, Takuya Ishikawa, Hiroshi Ōyama, Hiroaki Takada , et al. · 2018

In embedded network software running on embedded systems within the Internet of Things (IoT), high levels of runtime efficiency and user productivity are required. As an approach to improve the productivity of software development, the mru…

Scheduling parallel and distributed processing for automotive data stream management system Open

Jaeyong Rho, Takuya Azumi, Mayo Nakagawa, Kenya Sato, Nobuhiko Nishio · 2017

Takuya Azumi YOU? Author Swipe