The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
로봇의 주요 미들웨어인 ROS(Robot Operating System)에서 TF(Transform Library)는 방향성 포레스트 데이터 구조를 이용하여 좌표계 간의 변환 정보를 관리하고, 정보를 등록하고 연산하는 방법을 제공하는 필수 패키지이다. 그러나 이 구조에는 두 가지 근본적인 문제가 있습니다. 첫 번째는 확장성이 좋지 않다는 것입니다. 상호 배제를 위해 단일 거대 잠금을 사용하기 때문에 한 번에 단일 스레드만 허용하기 때문에 트리에 대한 액세스는 순차적입니다. 둘째, 데이터 신선도가 부족합니다. 데이터 신선도보다 시간적 일관성을 우선시하기 때문에 좌표 변환을 계산할 때 최신이 아닌 합성 데이터를 검색합니다. 본 논문에서는 트랜잭션 기법을 기반으로 한 방법을 제안한다. 이를 통해 이상 현상을 방지하고, 높은 성능을 달성하며, 새로운 데이터를 얻을 수 있습니다. 이러한 트랜잭션 방식은 읽기 전용 워크로드에서는 기존 방식보다 최대 429배, 읽기-쓰기 결합 워크로드에서는 기존 방식보다 최대 1276배 높은 처리량을 보여줍니다.
Yushi OGIWARA
Keio University
Ayanori YOROZU
University of Tsukuba
Akihisa OHYA
University of Tsukuba
Hideyuki KAWASHIMA
Keio University
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부
Yushi OGIWARA, Ayanori YOROZU, Akihisa OHYA, Hideyuki KAWASHIMA, "Transactional TF: Transform Library with Concurrency and Correctness" in IEICE TRANSACTIONS on Information,
vol. E106-D, no. 12, pp. 1951-1959, December 2023, doi: 10.1587/transinf.2023PAP0006.
Abstract: In the Robot Operating System (ROS), a major middleware for robots, the Transform Library (TF) is a mandatory package that manages transformation information between coordinate systems by using a directed forest data structure and providing methods for registering and computing the information. However, the structure has two fundamental problems. The first is its poor scalability: since it accepts only a single thread at a time due to using a single giant lock for mutual exclusion, the access to the tree is sequential. Second, there is a lack of data freshness: it retrieves non-latest synthetic data when computing coordinate transformations because it prioritizes temporal consistency over data freshness. In this paper, we propose methods based on transactional techniques. This will allow us to avoid anomalies, achieve high performance, and obtain fresh data. These transactional methods show a throughput of up to 429 times higher than the conventional method on a read-only workload and a freshness of up to 1276 times higher than the conventional one on a read-write combined workload.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2023PAP0006/_p
부
@ARTICLE{e106-d_12_1951,
author={Yushi OGIWARA, Ayanori YOROZU, Akihisa OHYA, Hideyuki KAWASHIMA, },
journal={IEICE TRANSACTIONS on Information},
title={Transactional TF: Transform Library with Concurrency and Correctness},
year={2023},
volume={E106-D},
number={12},
pages={1951-1959},
abstract={In the Robot Operating System (ROS), a major middleware for robots, the Transform Library (TF) is a mandatory package that manages transformation information between coordinate systems by using a directed forest data structure and providing methods for registering and computing the information. However, the structure has two fundamental problems. The first is its poor scalability: since it accepts only a single thread at a time due to using a single giant lock for mutual exclusion, the access to the tree is sequential. Second, there is a lack of data freshness: it retrieves non-latest synthetic data when computing coordinate transformations because it prioritizes temporal consistency over data freshness. In this paper, we propose methods based on transactional techniques. This will allow us to avoid anomalies, achieve high performance, and obtain fresh data. These transactional methods show a throughput of up to 429 times higher than the conventional method on a read-only workload and a freshness of up to 1276 times higher than the conventional one on a read-write combined workload.},
keywords={},
doi={10.1587/transinf.2023PAP0006},
ISSN={1745-1361},
month={December},}
부
TY - JOUR
TI - Transactional TF: Transform Library with Concurrency and Correctness
T2 - IEICE TRANSACTIONS on Information
SP - 1951
EP - 1959
AU - Yushi OGIWARA
AU - Ayanori YOROZU
AU - Akihisa OHYA
AU - Hideyuki KAWASHIMA
PY - 2023
DO - 10.1587/transinf.2023PAP0006
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E106-D
IS - 12
JA - IEICE TRANSACTIONS on Information
Y1 - December 2023
AB - In the Robot Operating System (ROS), a major middleware for robots, the Transform Library (TF) is a mandatory package that manages transformation information between coordinate systems by using a directed forest data structure and providing methods for registering and computing the information. However, the structure has two fundamental problems. The first is its poor scalability: since it accepts only a single thread at a time due to using a single giant lock for mutual exclusion, the access to the tree is sequential. Second, there is a lack of data freshness: it retrieves non-latest synthetic data when computing coordinate transformations because it prioritizes temporal consistency over data freshness. In this paper, we propose methods based on transactional techniques. This will allow us to avoid anomalies, achieve high performance, and obtain fresh data. These transactional methods show a throughput of up to 429 times higher than the conventional method on a read-only workload and a freshness of up to 1276 times higher than the conventional one on a read-write combined workload.
ER -