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\begin{document}
\title{FederatedLinda $B$K$*$1$k(B\\$B%G%P%C%0%D!<%k$N@_7W$H<BAu(B}
\author{065701J $B@VNf0l<y!!;XF3650w(B : $B2OLn??<#(B}
\date{\today}
\maketitle
\thispagestyle{fancy}

\section{$B35MW(B}
$BJ,;6%W%m%0%i%_%s%0$r9T$&$K$"$?$j!"D>LL$9$kFq$7$$LdBj$N0l$D$K!"<+A3$K%9%1!<(B
$B%k$9$k%7%9%F%`$r@_7W$9$k$3$H$,5s$2$i$l$k!#(B
$B$3$3$G8@$&%9%1!<%k$H$O!"%j%=!<%9$rA}$d$7$F%5!<%S%9G=NO$rD>@~E*$KA}$d$9;v(B
$B$G$"$k!#(B

$BK\8&5f<<$G$O!"$=$N$h$&$J%9%1!<%i%S%j%F%#$rHw$($?J,;6%W%m%0%i%`$r5-=R$G$-(B
$B$k$h$&$J%W%m%0%i%_%s%0%b%G%k$rDs6!$9$k$?$a$K(B FederatedLinda $B$r3+H/$7$?!#(B

$B$7$+$7!"J,;6%W%m%0%i%`$OJ#?t$N%W%m%0%i%`$,B>$N%W%m%;%9$GF1;~$KAv$j!"$=$l(B
$B$i$OAj8_$K4X$o$j$r$b$D$?$a!"DL>o$NJ}K!$G%G%P%C%0$r9T$&$3$H$OFq$7$$!#$=$3(B
$B$G!"K\8&5f$G$O!"%j%s%07?$N%G%P%C%0MQ%H%]%m%8!<$rB>$N%H%]%m%8!<$NN"$G9=C[(B
$B$7!"%j%s%0>e$r0l<~$9$k%H!<%/%s$K$h$C$F!";XDj$7$?%?%W%k$N8=:_$N>pJs$r<hF@(B
$B$9$k$H$$$C$?%G%P%C%0$N4pK\5!G=$N@_7W$H<BAu$r9T$C$?!#(B

\section{FederatedLinda}
Linda $B$O!"(B in(), out(), rd() $B$H$$$C$?(B API $B$rMQ$$$F%?%W%k%9%Z!<%9>e$N%G!<(B
$B%?$r99?7$9$k!#$7$+$7!"$3$l$G$O(B 1 $B$D$N%5!<%P!<$X=hM}$,=8Cf$9$k$?$a!"%9%1!<(B
$B%k$9$k%b%G%k$H$O$$$($J$$!#$=$3$G!"(BFederatedLinda$B$H$$$&!"O"K.7?%?%W%k%9%Z!<(B
$B%9$rDs0F$7!"<BAu$7$F$-$?!#(B

FederatedLinda $B$O(B ProtocolEngine $B$rMQ$$$F%G!<%?$NEAHB$r9T$&$,!"F10l%5!<(B
$B%P!<>e$G$b!"%W%m%;%9$,JL$J$?$a%a%b%j6u4V$r6&M-$G$-$J$$!#$=$3$G!"%5!<%P!<(B
$B$N%W%m%;%9$HF10l$N(B MetaProtocolEngine $B$rMQ$$$k$3$H$K$7$?!#(B

\section{$B%G%P%C%0%D!<%k$N35MW(B}
$B:#2s$N8&5f$G$O!"%D%j!<7?$N%H%]%m%8!<$H!"%G%P%C%0MQ$N%j%s%07?%H%]%m%8!<$r(B
$B9=C[$7$F<B83$r9T$C$?!#(B

$B?^(B\ref{fig:tree_and_ring} $B$O$=$N@\B3$N6qBNNc$G$"$k!#<B@~$HGK@~$O!"$=$l$>(B
$B$l%D%j!<$H%j%s%0$N@\B3$rI=$7$F$$$k!#(B

$B%D%j!<$G$O!"?F$+$iAw$i$l$F$-$?%G!<%?$O;R$K!";R$+$iAw$i$l$F$-$?%G!<%?$O?F(B
$B$X$HEAHB$5$l$k!#(B
$B0lJ}!"%j%s%0$G$O!":8$+$iF~$C$F$-$?%G!<%?$O1&$K!"1&$+$iF~$C$F$-$?%G!<%?$O:8$X(B
$B$HEAHB$5$l$k!#(B
\begin{figure}[htbp]
  \begin{center}
    % \vskip -\lastskip \vskip -10pt
    \includegraphics[scale=0.6]{image/tree_and_ring.pdf}
    \caption{$B%D%j!<$H%G%P%C%0MQ$N%j%s%0(B}
    \label{fig:tree_and_ring}
  \end{center}
\end{figure}

\subsection{$B%?%W%k$NEAHB(B}
FederatedLinda $B%5!<%P!<4V$N%?%W%k$NEAHB$O!"%?%W%k$X$N(B in(), out() $B$r%Y!<(B
$B%9$K9T$o$l$k!#%G!<%?$r$d$j<h$j$9$k$H$-!"(B 1 $B%3%M%/%7%g%s$"$?$j!"(B 1 $B%?%W%k(B
$B$r3d$jEv$F$k$3$H$K$h$C$F!"$I$3$N%5!<%P!<$+$iAw$i$l$F$-$?$+$r(B 
MetaProtocolEngine $B$OCN$k$3$H$,$G$-$k!#$=$N$?$a!"@\B3$O(B Poll $B$r9T$&%?%W(B
$B%kHV9f$G4IM}$5$l!"%[%9%HL>$H%]!<%HHV9f$r0U<1$7$F%3!<%I$r=q$/$N$O!":G=i(B
$B$N@\B3$N$H$-$N$_$G$"$k!#(B

\begin{figure}[htbp]
  \begin{center}
    % \vskip -\lastskip \vskip -10pt
    \includegraphics[scale=0.6]{image/poll.pdf}
    \caption{in() $B$H(B out() $B$K$h$k%?%W%k$NEAHB(B}
    \label{fig:poll}
  \end{center}
\end{figure}

MetaProtocolEngine $B$O!"$^$:!"@\B3$r9T$C$?$i!"$=$N@\B3$KBP1~$9$k%?%W%k$K(B
in() $B$r9T$&!#(Bin() $B$K$O%3!<%k%P%C%/%/%i%9$rEO$7!"30It$+$i(B out() $B$K$h$C$F(B
$B%G!<%?$,Aw$i$l$F$-$?$H$-$K$=$N%3!<%k%P%C%/%/%i%9$N%a%=%C%I$r<B9T$9$k$h$&(B
$B$K@_Dj$9$k!#(B($B?^(B\ref{fig:poll}) $B$=$N%3!<%k%P%C%/$K!"%k!<%F%#%s%0%F!<%V%k(B
$B$K$7$?$,$C$F!"%G!<%?$rAw?.$9$k$h$&$K%3!<%I$r5-=R$9$k$3$H$K$h$C$F!"%?%W%k(B
$B$NEAHB$,9T$o$l$k$h$&$K$J$k!#(B

\subsection{$B%k!<%F%#%s%0(B}
$B5/F0$7$?(B FDLindaServ $B$O(B ConfigurationManager $B$K5/F0$rDLCN$7!#<B83$K==(B
$BJ,$JBf?t$,=8$^$C$?$i!"3F!9$N@\B3@h$H%k!<%F%#%s%0%F!<%V%k$r3F(B FDLindaServ
$B$X$H(B XML $B7A<0$GAw?.$9$k!#@\B3$,40N;$7$?$i!"%5!<%P!<$X$H40N;$rDLCN$9$k!#(B

\subsection{$B%G%P%C%0MQ%H!<%/%s(B}
$B%G%P%C%0MQ$NL?Na$r(B Manager $B$,%j%s%0$N@hF,%N!<%I$K=PNO$9$k$H!"@hF,%N!<%I(B
$B$O%3%^%s%I$r2r<a$7$F!"%G!<%?$r;;=P$7!"%H!<%/%s$K$N$;!"NY$N%N!<%I$X$HEAHB(B
$B$9$k!#(B
Manager $B$H(B 1 $BBPB?$N%G%P%C%0%D!<%k$G$O!"0lIt$K%"%/%;%9$,=8Cf$7$F%9%1!<%k(B
$B$9$k$3$H$O$J$$!#$7$+$7!"$3$NJ}K!$r$H$k$H!"=8Cf$rHr$1$k$3$H$,$G$-$k(B ($B?^(B\ref{fig:debug_ring})

\begin{figure}[htbp]
  \begin{center}
    % \vskip -\lastskip \vskip -10pt
    \includegraphics[scale=0.9]{image/debug_ring.pdf}
    \caption{$B%N!<%I$N%G!<%?$r%H!<%/%s$KIU2C$7$FEAHB(B}
    \label{fig:debug_ring}
  \end{center}
\end{figure}

\section{$BI>2A(B}
\subsection{$B%G%P%C%0%D!<%k$N8!>Z$H7k2L(B}
$B:#2s$N<B83$G$O!"I>2A$K(B TORQUE $B$K$h$C$F4IM}$5$l$?%/%i%9%?(B 30 $BBf$rMQ$$$?!#(B

$B$^$:!"%/%i%9%?$rMQ$$$F%D%j!<%H%]%m%8!<$r7A@.$7!"$=$N8e$m$K%G%P%C%0MQ$N%j(B
$B%s%0%H%]%m%8!<$r7A@.$9$k!#(B

$B%D%j!<%H%]%m%8!<>e$G!"0lHV>e$N?F%N!<%I$+$i!"KvC<$N;R$N%N!<%I$X$H!"%?%W%k(B
$B$rEAHB$5$;!"%G!<%?$,(B 100 $B<~$9$k$^$G$N;~4V$r7WB,$9$k!#(B

$B$^$?!"$=$NN"$KD%$i$l$F$$$k%j%s%0%H%]%m%8!<>e$G%G%P%C%0MQ$N%H!<%/%s%?%W%k(B
$B$r%k!<%W$5$;$?>l9g$N%m%9;~4V$r7WB,$9$k!#(B

$BI=(B\ref{tab:debug_engine} $B$O!">e5-$N<B83$N7k2L$G$"$k!#%D%j!<$r(B 100 $B<~$7$?(B
$B9g7W;~4V$rJ?6Q$7$F(B 1 $B<~$"$?$j$N;~4V$r5a$a$?!#(B

\begin{table}[htbp]
\begin{center}
\caption{$B%G%P%C%0%(%s%8%s$NM-L5$K$h$k1F6A(B}
\label{tab:debug_engine}
\begin{tabular}[t]{|l|l|l|}
\hline
$B%G%P%C%0%(%s%8%s$NM-L5(B&$BL5(B&$BM-(B\\
\hline
1 $B<~$K$+$+$k;~4V(B[ms]& 11.38 & 12.35\\
\hline
\end{tabular}
\end{center}
\end{table}

$B0J>e$N7k2L$h$j!"%G%P%C%0%(%s%8%s$rMQ$$$?;~$N%m%9%?%$%`$O!"<BMQE*$JHO0O$K(B
$B<}$^$C$F$$$k;v$,J,$+$k!#(B

$B$^$?!"%G%P%C%0MQ$N%H!<%/%s$O!"(B 1 $BBf$"$?$j!"(B100 Bytes $B$NJ8;zNs(B (XML) $B$,IU2C(B
$B$5$l$k!#$3$NFbMF$O>iD9$J$?$a!"05=L$7$FAw?.$9$l$P!"$5$i$J$k%Q%U%)!<%^%s%9(B
$B$r4|BT$G$-$k!#(B

\subsection{TCP No Delay $B$N8z2L$N8!>Z(B}
$B$^$?!"(B TCP No Delay $B$K$h$k!"%?%W%k$NE>AwB.EY$N:9$r8!>Z$7$?!#(B
$B;HMQ$7$?%/%i%9%?$NBf?t$O(B46$BBf$G$"$k!#(B

$B%j%s%0$KN.$7$?%G!<%?$K$O!"(B 4096 Bytes $B$N%G!<%?$rMQ$$!"(B 100 $B<~$7$?$&$A$NJ?(B
$B6Q;~4V$h$j!"(B 1 $B<~$K$+$+$k;~4V$r;;=P$7$?!#(B

\begin{figure}[htbp]
  \begin{center}
    % \vskip -\lastskip \vskip -10pt
    \includegraphics[scale=0.5]{image/tcpnodelay.pdf}
    \caption{TCP No Delay $B$N8!>Z(B}
    \label{fig:tcpnodelay}
  \end{center}
\end{figure}

$B>e5-$N$3$H$h$j!"(BTCP No Delay $B$K$h$C$F!"%Q%U%)!<%^%s%9$KBg$-$J:9$rF@$i$l(B
$B$k$3$H$O$J$$!#(B

\section{$B$^$H$a(B}
$B@h9T$N8&5f$G$O!"(BManager $B$K=8Cf$9$k%?%$%W$N%G%P%C%0%D!<%k$G$"$C$?$?$a!"%9%1!<%k$9(B
$B$k$b$N$G$O$J$+$C$?!#$7$+$7!":#2s$N(B Ring $B$rMQ$$$kJ}<0$N%G%P%C%0%D!<%k$O!"NY$K%G!<%?$rEAHB$7$F(B
$B$$$/$N$_$NC1=c$J=hM}$G9=@.$5$l$k$?$a!"0lIt$N%5!<%P!<$K%"%/%;%9$,=8Cf$9$k$3$H$O(B
$B$J$/$J$j!"%9%1!<%i%V%k$J%G%P%C%0%D!<%k$H$J$C$?!#(B

\thispagestyle{fancy}
\begin{thebibliography}{9}

\bibitem{ono}Yoshihiko Fuchita
$BJ,;6%W%m%0%i%_%s%0%b%G%k(B Federated Linda $B$HJ,;6%G%P%C%03+H/(B

\bibitem{ono}Masatoshi ONO
$BJ,;6%W%m%0%i%`$K$*$1$k%G%P%C%0%D!<%k$N@_7W$H<BAu(B

\end{thebibliography}
\end{document}