{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,30]],"date-time":"2025-12-30T08:53:19Z","timestamp":1767084799727,"version":"build-2065373602"},"reference-count":15,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,2,14]],"date-time":"2021-02-14T00:00:00Z","timestamp":1613260800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Developing robot control software systems is difficult because of a wide variety of requirements, including hardware systems and sensors, even though robots are demanding nowadays. Middleware systems, such as Robot Operating System (ROS), are being developed and widely used to tackle this difficulty. Streaming data Sharing Manager (SSM) is one of such middleware systems that allow developers to write and read sensor data with timestamps using a Personal Computer (PC). The timestamp feature is essential for the robot control system because it usually uses multiple sensors with their own measurement cycles, meaning that measured sensor values with different timestamps become useless for the robot control. Using SSM allows developers to use measured sensor values with the same timestamps; however, SSM assumes that only one PC is used. Thereby, if one process consumes CPU resources intensively, other processes cannot finish their assumed deadlines, leading to the unexpected behavior of a robot. This paper proposes an SSM middleware, named Distributed Streaming data Sharing Manager (DSSM), that enables distributing processes on SSM to different PCs. We have developed a prototype of DSSM and confirmed its behavior so far. In addition, we apply DSSM to an existing real SSM based robot control system that autonomously controls an unmanned vehicle robot. We then reveal its advantages and disadvantages via several experiments by measuring resource usages.<\/jats:p>","DOI":"10.3390\/s21041344","type":"journal-article","created":{"date-parts":[[2021,2,14]],"date-time":"2021-02-14T05:54:49Z","timestamp":1613282089000},"page":"1344","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["DSSM: Distributed Streaming Data Sharing Manager"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1228-3186","authenticated-orcid":false,"given":"Hiroaki","family":"Fukuda","sequence":"first","affiliation":[{"name":"Department of Computer Science and Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryota","family":"Gunji","sequence":"additional","affiliation":[{"name":"Graduate School of Electrical Engineering and Computer Science, Shibaura Institute of Technology, Tokyo 135-8548, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tadahiro","family":"Hasegawa","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0969-5139","authenticated-orcid":false,"given":"Paul","family":"Leger","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00eda, Universidad Cat\u00f3lica del Norte, Coquimbo 1780000, Chile"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ismael","family":"Figueroa","sequence":"additional","affiliation":[{"name":"Escuela de Auditor\u00eda, Universidad de Valpara\u00edso, Valpara\u00edso 2340000, Chile"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,2,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1561\/1100000005","article-title":"Human-Robot Interaction: A Survey","volume":"1","author":"Goodrich","year":"2007","journal-title":"Found. Trends Hum. Comput. Interact."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1007\/s10514-006-9013-8","article-title":"Development environments for autonomous mobile robots: A survey","volume":"22","author":"Kramer","year":"2007","journal-title":"Auton. Robot."},{"key":"ref_3","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., and Ng, A. (2009, January 12\u201317). ROS: An open-source Robot Operating System. Proceedings of the ICRA Workshop on Open Source Software, Kobe, Japan."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Maruyama, Y., Kato, S., and Azumi, T. (2016, January 13\u201314). Exploring the performance of ROS2. Proceedings of the 13th International Conference on Embedded Software, Chengdu, China.","DOI":"10.1145\/2968478.2968502"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T., and Yoon, W.K. (2005, January 2\u20136). 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Mag."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/4\/1344\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T05:23:57Z","timestamp":1760160237000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/4\/1344"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,14]]},"references-count":15,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2021,2]]}},"alternative-id":["s21041344"],"URL":"https:\/\/doi.org\/10.3390\/s21041344","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2021,2,14]]}}}