RT middleware
RT-middleware (Robotics Technology Middleware) is a common computing platform technical standard for robots based on distributed object technology.{{Cite conference |last1=Ando |first1=Noriaki |last2=Suehiro |first2=Takashi |last3=Kitagaki |first3=Kosei |last4=Kotoku |first4=Tetsuo |last5=Yoon |first5=Woo-Keun |title=RT-Middleware: Distributed Component Middleware for RT (Robot Technology) |date=August 2005 |conference=IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005) |pages=3555–3560 |place=Edmonton, Canada}} RT-middleware supports the construction of various networked robotic systems by integrating various network-enabled robotic elements named RT-Components, which specification standard is discussed and defined by the Object Management Group (OMG).{{Cite web |url=http://www.omg.org/spec/RTC/1.0/ |title=Robotics Technology Component Specification version 1.0 |website=Object Management Group (OMG)}}
Properties
In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting such components. This distributed architecture helps developers reuse the robotic elements and boosts the reliability of a system.
Each RT-component has a port as an endpoint for communicating to 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 they behave as finite-state machines. The states they can have are: CREATED, INACTIVE, ACTIVE, and ERROR. States and behaviors are controlled by the execution-context. If component behavior must be changed, the execution-context can be replaced at runtime.
Implementations
RT-middleware is only a standard of the Robotics platform software. Implementations include:
- OpenRTM-aist is based on the Common Object Request Broker Architecture (CORBA) platform developed by National Institute of Advanced Industrial Science and Technology. Using CORBA properties, OpenRTM-aist is available for environments with multiple platforms and programming languages.OpenRTM-aist official website, http://www.openrtm.org/
- OpenRTM.NET is for the .NET Framework.SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]
- RTM on Android is being implemented on Android (operating system).SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]
- RTC Lite is a future modified RT-middleware for embedded or small-resource systems.SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]
- RTM Safety to pass the IEC 61508 standard.SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]
Related projects
- Robot Operating System (ROS) – C++ software framework developed by Willow Garage.{{Cite web |url=https://www.ros.org/ |title=ROS – Robot Operating System |website=ROS.org}}{{Cite web |url=http://www.willowgarage.com/ |title=willowgarage.com |website=Willow Garage}}
- Open Robot Control Software (Orocos) – C++ software framework for component-based robot control software[http://www.orocos.org/ Orocos.org]
- OPRoS{{Cite web |url=http://210.115.36.125:8001/opros_en/dokuwiki/doku.php |title=OPRoS |author= |date=3 January 2011 |archive-url=https://web.archive.org/web/20110704131738/http://210.115.36.125:8001/opros_en/dokuwiki/doku.php |archive-date=2011-07-04}} developed by Korea Association of Robot Industry (KAR){{Cite web |url=https://www.korearobot.or.kr/ |title=KAR |website=Korea Association of Robot Industry}}
See also
References
{{Reflist}}
External links
- [https://web.archive.org/web/20040504030512/http://www.is.aist.go.jp/rt/ RT-middleware Project (Japanese)]
- [https://web.archive.org/web/20101010204852/http://www.openrtm.org/OpenRTM-aist/ OpenRTM-aist]
- [https://web.archive.org/web/20120310175128/http://www.openrtp.org/wiki/_default/en/Home/ OpenRT Platform]
- [http://www.virca.hu VirCA - Virtual Collaboration Arena framework powered by RT-Middleware]