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The State of Hakoniwa
Hideki Takase (The Univ. of Tokyo)
Takashi Mori (Hakoniwa Lab.)
Kenji Hiranabe (ESM, Inc.)
Mitsutaka Takada (Nagoya Univ.)
Shin Kuboaki (Change Vision, Inc.)
Shintaro Hosoai (The Univ. of Tokyo)
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We are TOPPERS/Hakoniwa WG!!
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• Hideki Takase
• @takasehideki
• The Univ. of Tokyo
• EMB/IoT PF, ROS
• Shintaro Hosoai
• @s-hosoai
• The Univ. of Tokyo
• IDE, Modeling
• Tatsuya Fukuta
• @hiranabe
• ESM, Inc.
• Agile, Mathematics
• Mitsutaka Takada
• @mitsu48
• Nagoya Univ.
• Kernel, Automotive
• Shin Kuboaki
• @kuboaki
• Change Vision, Inc.
• MBD/MDD, App
• Takashi Mori
• @kanetugu2020
• Hakoniwa Lab.
• Tech Leader!!
• About TOPPERS Project (Toyohashi OPen Platform for Embedded Real-time Systems)
• NPO in Japan to promote embedded systems technology and its industry by developing and
releasing high-quality open-source software, especially in real-time kernels and components
• Hakoniwa WG: working group to establish simulation technology for the IoT fields
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Network
Engineers
Cloud
Engineers
Web
Engineers
Embedded Systems
Engineers
Robot Control
Engineers
What is Hakoniwa??
• Let’s bring them into a BOX!!
• arranging various technologies as assets and combine into the same box
• not only the simulator but also a HUB to everything for simulation
• Key Technologies
• Hakoniwa Core: functions for the seamless integration of various assets
• Hakoniwa Conductor: mediator for simulation between assets
• Protocol Data Unit (PDU): common data format to exchange
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please check
ROSCon’23!!
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Update1: Drone Simulator
• The simulator that integrates a drone in virtual space
with a real-life PX4 or QGC
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PX4 on SI TL
QGroundControl
18570/ UDP
Hakoniwa
hakoniwa-px4sim
Drone
Physics/ Sensor
(C/ C+ + )
Game Engine
Drone Control
(C/ C+ + )
Unity
Unreal Engine
Scenario Test
Python
4560/ TCP
PS4 Controller
MATLAB/ Simulink
Generate
Plant /
Sensor
Model
scenario
parameters
Simulation
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Update2: hakoniwa-bridge
• able to connect existing physical ROS systems to virtual space!
• designed with Zenoh to integrate everything for Digital Twin!!
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Demonstration!!
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• Our technology can fusion
Physical and Virtual worlds!!
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More info!!
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• Everything is available as Open Source!
• Please join our Hakoniwa world!!
https://toppers.github.io/hakoniwa/en/