RT middleware

RT-middleware (Robotics Technology Middleware) is a common platform standards for Robots based on distributed object technology.[1] RT-middleware supports the construction of various networked robotic systems by the integration of various network-enabled robotic elements called RT-Components. The specification standard of RT-components is discussed and defined by the Object Management Group (OMG).[2]

RT-middleware Logo mark (Japan Robot Association)

Characteristic

In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting those RT-components. This distributed architecture helps developers to reuse the robotic elements and boosts the reliability of the robotic system.

Each RT-component has a port as an endpoint for communicating other RT-components. Every port has its type and the ports which have the same type can be connected each other.

RT-components also have state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR. States and behaviors are controlled by the execution-context. If developers want to change the behavior of their RT-components, the execution-context can be replaced at runtime.

Implementations

RT-middleware is just standard of the Robotics platform software. Implementations of the RT-middleware are as follows:

  • OpenRTM-aist is an implementation of the RT-middleware on the basis of CORBA platform developed by National Institute of Advanced Industrial Science and Technology. Using CORBA's characteristics, OpenRTM-aist is available for multi-platform and multi-language environment.[3]
  • OpenRTM.NET is an implementation of the RT-middleware for the .NET Framework platform.[4]
  • RTM on Android is being implemented on Android OS.[5]
  • RTC Lite is a future modified RT-middleware for embedded or small-resource systems.[6]
  • RTM Safety to pass the IEC 61508 standard.[7]
  • ROS (Robot Operating System) developed by Willow Garage.[8][9]
  • Orocos (Open Robot Control Software) C++ framework for component-based robot control software[10]
  • OPRoS developed by Korea Association of Robot Industry (KAR)[11]
gollark: And my slightly improved grudger... wins utterly, great.
gollark: I'll make it run 50 times and sum them.
gollark: Except it's also sort of bad because I only see a small slice of the distribution because the execution engine this has is very apioform.
gollark: Wow, making apiomemetics fix the values of all random things ever was a great decision on my part given the ridiculous variance of everything without it.
gollark: As planned.

See also

References
  1. Noriaki ANDO, Takashi SUEHIRO, Kosei KITAGAKI, Tetsuo KOTOKU, Woo-Keun Yoon, "RT-Middleware: Distributed Component Middleware for RT (Robot Technology)", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), pp.3555-3560, 2005.08, Edmonton, Canada
  2. Robotics Technology Component Specification version 1.0, Object Management Group (OMG)
  3. OpenRTM-aist official website, http://www.openrtm.org/
  4. SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]
  5. SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]
  6. SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]
  7. SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/index.html]
  8. ROS.org
  9. Willow Garage
  10. Orocos.org
  11. OPRoS official website Archived 2011-01-26 at the Wayback Machine
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