RT component object model in RT middleware - Distributed component middleware for RT (Robot technology)

被引：28

作者：

Ando, N ^{[1
]}

Suehiro, T ^{[1
]}

Kitagaki, K ^{[1
]}

Kotoku, T ^{[1
]}

Yoon, WK ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, Intelligent Syst Res Inst, AIST, Tsukuba, Ibaraki 3058568, Japan

来源：

2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS | 2005年

关键词：

RT (Robot Technology); software component; middleware; robot system; system integration;

D O I：

10.1109/CIRA.2005.1554319

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes RT-Component object model in RT-Middleware for robot system integration. "RT" means "Robot Technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-Middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at software level. For that reason, RT-Middleware, which promotes application of RT in various field, have been developed. Robotic system development methodology and our RT Middleware concepts will be discussed. RT-Component, which is a basic software unit of RT-Middleware based systemintegration, is derived from that discussion. Next, the object model and the interface definition of RT-Component architecture will be discussed. Finally conclusion and future work will be described.

引用

页码：457 / 462

页数：6

共 8 条

[1] Implementing the real-time publisher/subscriber model on the controller area network (CAN) [J].

Kaiser, J ;

Mock, M .

2ND IEEE INTERNATIONAL SYMPOSIUM ON OBJECT-ORIENTED REAL-TIME DISTRIBUTED COMPUTING (ISORC'99), PROCEEDINGS, 1999, :172-181

[2]

KOHTARO SAB, 2003, AIM2003 WORKSH MIDDL

[3]

MIZUKAWA M, ORIN OPEN ROBOT INTE

[4]

MIZUKAWA M, 2002, ORIN OPEN ROBOT INTE, P1160

[5]

OZAKI F, 2004, IROS2004 WORKSH ROB

[6]

OZAKI F, 2003, AIM2003 WORKSH MIDDL

[7]

Rajkumar R., 1995, Proceedings. Real-Time Technology and Applications Symposium (Cat. No.95TH8055), P66, DOI 10.1109/RTTAS.1995.516203

[8]

Schlegel C., 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), P1610, DOI 10.1109/IROS.1999.811709

← 1 →