diff --git a/Cargo.lock b/Cargo.lock
index 2819ebf..f1e3c5d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -26,6 +26,21 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "android-tzdata"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0"
+
+[[package]]
+name = "android_system_properties"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "anes"
 version = "0.1.6"
@@ -40,9 +55,9 @@ checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
 
 [[package]]
 name = "anyhow"
-version = "1.0.75"
+version = "1.0.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
+checksum = "ca87830a3e3fb156dc96cfbd31cb620265dd053be734723f22b760d6cc3c3051"
 
 [[package]]
 name = "approx"
@@ -75,35 +90,24 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3c07dab4369547dbe5114677b33fbbf724971019f3818172d59a97a61c774ffd"
 
-[[package]]
-name = "async-trait"
-version = "0.1.74"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "autd3"
-version = "19.0.0"
+version = "20.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "272e524aaedc294f1af52fe6f0aeff554f963c7d64bd1ef732395df715e5774b"
+checksum = "a234ebed502ea9b11cc9a906d8474ce41b4c5e5eeece55357faaeeceb1b2ce6e"
 dependencies = [
- "async-trait",
  "autd3-derive",
  "autd3-driver",
  "autd3-firmware-emulator",
  "bitvec",
  "num 0.4.1",
  "thiserror",
+ "tokio",
 ]
 
 [[package]]
 name = "autd3-backend-arrayfire"
-version = "19.0.0"
+version = "20.0.0"
 dependencies = [
  "anyhow",
  "arrayfire",
@@ -119,9 +123,9 @@ dependencies = [
 
 [[package]]
 name = "autd3-derive"
-version = "19.0.0"
+version = "20.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18c0c89452c24a7dd3956fc0d8705787dd48f900028918d158e9a82f2eac6d43"
+checksum = "d6a1a95af415a675a66a8cdf65a86cfd4936751be6242f83fa6778173dd61020"
 dependencies = [
  "quote",
  "syn",
@@ -129,11 +133,10 @@ dependencies = [
 
 [[package]]
 name = "autd3-driver"
-version = "19.0.0"
+version = "20.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f39dbff9102a322bfb0f9e98beadfc88c7c4f385a5e5e8b71fc5267ab797aeaf"
+checksum = "539f7ca6cf091c1ac70fc13c3b96c7e25420aa921b226ec89990f8f1b144cca9"
 dependencies = [
- "async-trait",
  "bitflags",
  "bitvec",
  "libc",
@@ -144,20 +147,21 @@ dependencies = [
 
 [[package]]
 name = "autd3-firmware-emulator"
-version = "19.0.0"
+version = "20.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f53b4fbd1067d64f7d8a4c313173244521a48442c727186251d3efd056c8f0e"
+checksum = "b43f5b198c681d7f70c27e29b7166ed5925512106ecb12ae7638122f2d5545e4"
 dependencies = [
  "autd3-driver",
+ "chrono",
  "num-integer",
  "thiserror",
 ]
 
 [[package]]
 name = "autd3-gain-holo"
-version = "19.0.0"
+version = "20.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b33155102b53174539411528d3a7734d452ba57184c34cb9504328343bbafeaf"
+checksum = "2abaed7b751e71bb6805311afc45ac89a26ff0103110ebbe5e4472c06a181b25"
 dependencies = [
  "assert_approx_eq",
  "autd3-derive",
@@ -241,6 +245,20 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "chrono"
+version = "0.4.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f2c685bad3eb3d45a01354cedb7d5faa66194d1d58ba6e267a8de788f79db38"
+dependencies = [
+ "android-tzdata",
+ "iana-time-zone",
+ "js-sys",
+ "num-traits",
+ "wasm-bindgen",
+ "windows-targets 0.48.5",
+]
+
 [[package]]
 name = "ciborium"
 version = "0.2.1"
@@ -270,18 +288,18 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.4.10"
+version = "4.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41fffed7514f420abec6d183b1d3acfd9099c79c3a10a06ade4f8203f1411272"
+checksum = "dcfab8ba68f3668e89f6ff60f5b205cea56aa7b769451a59f34b8682f51c056d"
 dependencies = [
  "clap_builder",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.4.9"
+version = "4.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "63361bae7eef3771745f02d8d892bec2fee5f6e34af316ba556e7f97a7069ff1"
+checksum = "fb7fb5e4e979aec3be7791562fcba452f94ad85e954da024396433e0e25a79e9"
 dependencies = [
  "anstyle",
  "clap_lex",
@@ -293,6 +311,12 @@ version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
+[[package]]
+name = "core-foundation-sys"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06ea2b9bc92be3c2baa9334a323ebca2d6f074ff852cd1d7b11064035cd3868f"
+
 [[package]]
 name = "criterion"
 version = "0.5.1"
@@ -331,9 +355,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-deque"
-version = "0.8.3"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
+checksum = "fca89a0e215bab21874660c67903c5f143333cab1da83d041c7ded6053774751"
 dependencies = [
  "cfg-if",
  "crossbeam-epoch",
@@ -342,22 +366,20 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.15"
+version = "0.9.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
+checksum = "0e3681d554572a651dda4186cd47240627c3d0114d45a95f6ad27f2f22e7548d"
 dependencies = [
  "autocfg",
  "cfg-if",
  "crossbeam-utils",
- "memoffset",
- "scopeguard",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.16"
+version = "0.8.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294"
+checksum = "c3a430a770ebd84726f584a90ee7f020d28db52c6d02138900f22341f866d39c"
 dependencies = [
  "cfg-if",
 ]
@@ -375,7 +397,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
 dependencies = [
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys",
 ]
 
 [[package]]
@@ -413,15 +435,38 @@ version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d77f7ec81a6d05a3abb01ab6eb7590f6083d08449fe5a1c8b1e620283546ccb7"
 
+[[package]]
+name = "iana-time-zone"
+version = "0.1.59"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6a67363e2aa4443928ce15e57ebae94fd8949958fd1223c4cfc0cd473ad7539"
+dependencies = [
+ "android_system_properties",
+ "core-foundation-sys",
+ "iana-time-zone-haiku",
+ "js-sys",
+ "wasm-bindgen",
+ "windows-core",
+]
+
+[[package]]
+name = "iana-time-zone-haiku"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f31827a206f56af32e590ba56d5d2d085f558508192593743f16b2306495269f"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "is-terminal"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb0889898416213fab133e1d33a0e5858a48177452750691bde3666d0fdbaf8b"
+checksum = "0bad00257d07be169d870ab665980b06cdb366d792ad690bf2e76876dc503455"
 dependencies = [
  "hermit-abi",
  "rustix",
- "windows-sys 0.48.0",
+ "windows-sys",
 ]
 
 [[package]]
@@ -435,9 +480,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.9"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af150ab688ff2122fcef229be89cb50dd66af9e01a4ff320cc137eecc9bacc38"
+checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
 
 [[package]]
 name = "js-sys"
@@ -456,15 +501,15 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.150"
+version = "0.2.151"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
+checksum = "302d7ab3130588088d277783b1e2d2e10c9e9e4a16dd9050e6ec93fb3e7048f4"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.11"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "969488b55f8ac402214f3f5fd243ebb7206cf82de60d3172994707a4bcc2b829"
+checksum = "c4cd1a83af159aa67994778be9070f0ae1bd732942279cabb14f86f986a21456"
 
 [[package]]
 name = "log"
@@ -484,18 +529,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.6.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
-
-[[package]]
-name = "memoffset"
-version = "0.9.0"
+version = "2.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c"
-dependencies = [
- "autocfg",
-]
+checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149"
 
 [[package]]
 name = "miniz_oxide"
@@ -656,18 +692,18 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.32.1"
+version = "0.32.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cf5f9dd3933bd50a9e1f149ec995f39ae2c496d31fd772c1fd45ebc27e902b0"
+checksum = "a6a622008b6e321afc04970976f62ee297fdbaa6f95318ca343e3eebb9648441"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "once_cell"
-version = "1.18.0"
+version = "1.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
+checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
 [[package]]
 name = "oorandom"
@@ -723,18 +759,18 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.70"
+version = "1.0.73"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
+checksum = "2dd5e8a1f1029c43224ad5898e50140c2aebb1705f19e67c918ebf5b9e797fe1"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.33"
+version = "1.0.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
+checksum = "22a37c9326af5ed140c86a46655b5278de879853be5573c01df185b6f49a580a"
 dependencies = [
  "proc-macro2",
 ]
@@ -847,22 +883,22 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.25"
+version = "0.38.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc99bc2d4f1fed22595588a013687477aedf3cdcfb26558c559edb67b4d9b22e"
+checksum = "72e572a5e8ca657d7366229cdde4bd14c4eb5499a9573d4d366fe1b599daa316"
 dependencies = [
  "bitflags",
  "errno",
  "libc",
  "linux-raw-sys",
- "windows-sys 0.48.0",
+ "windows-sys",
 ]
 
 [[package]]
 name = "ryu"
-version = "1.0.15"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
+checksum = "f98d2aa92eebf49b69786be48e4477826b256916e84a57ff2a4f21923b48eb4c"
 
 [[package]]
 name = "safe_arch"
@@ -882,12 +918,6 @@ dependencies = [
  "winapi-util",
 ]
 
-[[package]]
-name = "scopeguard"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -925,9 +955,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.108"
+version = "1.0.109"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d1c7e3eac408d115102c4c24ad393e0821bb3a5df4d506a80f85f7a742a526b"
+checksum = "cb0652c533506ad7a2e353cce269330d6afd8bdfb6d75e0ace5b35aacbd7b9e9"
 dependencies = [
  "itoa",
  "ryu",
@@ -949,9 +979,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.39"
+version = "2.0.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
+checksum = "92d27c2c202598d05175a6dd3af46824b7f747f8d8e9b14c623f19fa5069735d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -966,18 +996,18 @@ checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369"
 
 [[package]]
 name = "thiserror"
-version = "1.0.50"
+version = "1.0.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
+checksum = "b2cd5904763bad08ad5513ddbb12cf2ae273ca53fa9f68e843e236ec6dfccc09"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.50"
+version = "1.0.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
+checksum = "3dcf4a824cce0aeacd6f38ae6f24234c8e80d68632338ebaa1443b5df9e29e19"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -996,9 +1026,9 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.34.0"
+version = "1.35.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0c014766411e834f7af5b8f4cf46257aab4036ca95e9d2c144a10f59ad6f5b9"
+checksum = "c89b4efa943be685f629b149f53829423f8f5531ea21249408e8e2f8671ec104"
 dependencies = [
  "backtrace",
  "num_cpus",
@@ -1169,15 +1199,6 @@ dependencies = [
  "windows-targets 0.52.0",
 ]
 
-[[package]]
-name = "windows-sys"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
-dependencies = [
- "windows-targets 0.48.5",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.52.0"
diff --git a/Cargo.toml b/Cargo.toml
index ec9f7b3..bbba3f7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "autd3-backend-arrayfire"
-version = "19.0.0"
+version = "20.0.0"
 authors = ["shun suzuki <suzuki@hapis.k.u-tokyo.ac.jp>"]
 edition = "2021"
 
@@ -11,8 +11,8 @@ readme = "README.md"
 keywords = ["autd"]
 
 [dependencies]
-autd3-driver = "19.0.0"
-autd3-gain-holo = "19.0.0"
+autd3-driver = "20.0.0"
+autd3-gain-holo = "20.0.0"
 nalgebra = { version = "0.32.1", default-features = false, features = ["std"] }
 arrayfire = "3.8.0"
 rand = "0.8.5"
@@ -20,7 +20,7 @@ thiserror = "1.0.31"
 
 [dev-dependencies]
 anyhow = "1.0.75"
-autd3 = "19.0.0"
+autd3 = "20.0.0"
 tokio = { version = "1.34.0", features = ["macros", "rt-multi-thread"] }
 criterion = { version = "0.5.1", features = ["html_reports"] }