{"created":"2023-05-15T12:00:18.467454+00:00","id":7061,"links":{},"metadata":{"_buckets":{"deposit":"039d5212-7690-4ebc-a6d4-6ca0bd69b042"},"_deposit":{"created_by":3,"id":"7061","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"7061"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00007061","sets":["8:24"]},"author_link":["6059","30535"],"control_number":"7061","item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021-04-20","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"399","bibliographicPageStart":"386","bibliographicVolumeNumber":"33","bibliographic_titles":[{"bibliographic_title":"Journal of Robotics and Mechatronics"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"In this study, with the aim of installing an object recognition algorithm on the hardware device of a service robot, we propose a Binarized Dual Stream VGG-16 (BDS-VGG16) network model to realize high-speed computations and low power consumption. The BDS-VGG16 model has improved in terms of the object recognition accuracy by using not only RGB images but also depth images. It achieved a 99.3% accuracy in tests using an RGB-D Object Dataset. We have also confirmed that the proposed model can be installed in a field-programmable gate array (FPGA). We have further installed BDS-VGG16 Tiny, a small BDS-VGG16 model in XCZU9EG, a system on a chip with a CPU and a middle-scale FPGA on a single chip that can be installed in robots. We have also integrated the BDS-VGG16 Tiny with a robot operating system. As a result, the BDS-VGG16 Tiny installed in the XCZU9EG FPGA realizes approximately 1.9-times more computations than the one installed in the graphics processing unit (GPU) with a power efficiency approximately 8-times higher than that installed in the GPU.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/100000641_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"富士技術出版"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.20965/jrm.2021.p0386","subitem_relation_type_select":"DOI"}}]},"item_21_relation_66":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"130008027729","subitem_relation_type_select":"NAID"}}]},"item_21_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"Copyright (c) Fuji Technlogy Press Ltd."}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA10809998","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0915-3942","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"1883-8049","subitem_source_identifier_type":"EISSN"}]},"item_21_subject_16":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"501","subitem_subject_scheme":"NDC"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10364469"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Kyushu Institute of Technology"},{"subitem_text_value":"Kyushu Institute of Technology"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"8841"}]},"item_21_version_type_58":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Yoshimoto,  Yuma","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Tamukoh, Hakaru","creatorNameLang":"en"},{"creatorName":"田向, 権","creatorNameLang":"ja"},{"creatorName":"タムコウ, ハカル","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2021-05-20"}],"displaytype":"detail","filename":"10364469.pdf","filesize":[{"value":"2.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"10364469.pdf","url":"https://kyutech.repo.nii.ac.jp/record/7061/files/10364469.pdf"},"version_id":"7c875b76-f90f-4ee9-91d9-7cd80e94e9ba"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"convolutional neural network","subitem_subject_scheme":"Other"},{"subitem_subject":"depth image","subitem_subject_scheme":"Other"},{"subitem_subject":"dual stream","subitem_subject_scheme":"Other"},{"subitem_subject":"field programmable gate array","subitem_subject_scheme":"Other"},{"subitem_subject":"object recognition","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"FPGA Implementation of a Binarized Dual Stream Convolutional Neural Network for Service Robots","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"FPGA Implementation of a Binarized Dual Stream Convolutional Neural Network for Service Robots","subitem_title_language":"en"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2021-05-20"},"publish_date":"2021-05-20","publish_status":"0","recid":"7061","relation_version_is_last":true,"title":["FPGA Implementation of a Binarized Dual Stream Convolutional Neural Network for Service Robots"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-10-25T10:10:08.043641+00:00"}