RT middleware
Encyclopedia
RT-middleware is a common platform standards for Robots based on the distributed object technology. 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 the RT-component is discussed / defined by the Object Management Group
(OMG).
Each RT-component has 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 has its state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR, and the 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 run-time.
is an implementation of the RT-middleware on the basis of CORBA
platform developed by National Institute of Advanced Industrial Science and Technology
. Using the CORBA's characteristics, OpenRTM-aist is fully available for multi-platform and multi-language environment.
platform developed by System Engineering Consultants Co., Ltd..
Object Management Group
Object Management Group is a consortium, originally aimed at setting standards for distributed object-oriented systems, and is now focused on modeling and model-based standards.- Overview :...
(OMG).
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 re-use the robotic elements, and boosts the reliability of the robotic system.Each RT-component has 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 has its state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR, and the 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 run-time.
Implementation
RT-middleware is just standard of the Robotics platform software. Implementations of the RT-middleware are as follows:OpenRTM-aist
OpenRTM-aistOpenRTM-aist
OpenRTM-aist is a software platform developed on the basis of the RT middleware standard. OpenRTM-aist is developed by National Institute of Advanced Industrial Science and Technology which also contributes to definition of the RT-middleware standard....
is an implementation of the RT-middleware on the basis of CORBA
Çorba
Chorba , ciorbă , shurpa , shorpo , or sorpa is one of various kinds of soup or stew found in national cuisines across Middle East...
platform developed by National Institute of Advanced Industrial Science and Technology
National Institute of Advanced Industrial Science and Technology
The , or AIST, is a Japanese research facility headquartered in Tokyo, and most of the workforce is located in Tsukuba Science City, Ibaraki, and in several cities throughout Japan. The institute is managed to integrate scientific and engineering knowledge to address socio-economic needs...
. Using the CORBA's characteristics, OpenRTM-aist is fully available for multi-platform and multi-language environment.
OpenRTM.NET
OpenRTM.NET is an implementation of the RT-middleware on the basis of .NET Framework.NET Framework
The .NET Framework is a software framework that runs primarily on Microsoft Windows. It includes a large library and supports several programming languages which allows language interoperability...
platform developed by System Engineering Consultants Co., Ltd..
Related Projects
- ROS (Robot Operating System)ROS (Robot Operating System)Robot Operating System is a software framework for robot software development, providing operating system-like functionality on a heterogenous computer cluster. ROS was originally developed in 2007 under the name switchyard by the Stanford Artificial Intelligence Laboratory in support of the...
developed by Willow garageWillow GarageWillow Garage is a robotics research lab and technology incubator devoted to developing hardware and open source software for personal robotics applications. It was started in late 2006 by Scott Hassan, an early Google employee who helped develop Google's technology. Steve Cousins is the president...
. - Orocos (Open Robot Control Software) C++ framework for component-based robot control software
- OPRoS developed by Korea Association of Robot Industry (KAR)
See also
- RobotRobotA robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming. Robots can be autonomous, semi-autonomous or...
- Open-source roboticsOpen-source roboticsAn open-source robot is a robot whose blueprints, schematics or source code are released under an open-source model.-Full robot projects:*, Open Hardware Medical-Research liquid handling robot*, Mobile Telepresence Research Project, Est...
- MiddlewareMiddlewareMiddleware is computer software that connects software components or people and their applications. The software consists of a set of services that allows multiple processes running on one or more machines to interact...
- New Energy and Industrial Technology Development OrganizationNew Energy and Industrial Technology Development OrganizationThe New Energy and Industrial Technology Development Organization , also known as NEDO, is Japan's largest public management organization promoting research and development as well as deployment of industrial, energy and environmental technologies. In 2003, NEDO was reorganized as an Independent...
- National Institute of Advanced Industrial Science and TechnologyNational Institute of Advanced Industrial Science and TechnologyThe , or AIST, is a Japanese research facility headquartered in Tokyo, and most of the workforce is located in Tsukuba Science City, Ibaraki, and in several cities throughout Japan. The institute is managed to integrate scientific and engineering knowledge to address socio-economic needs...
- Object Management GroupObject Management GroupObject Management Group is a consortium, originally aimed at setting standards for distributed object-oriented systems, and is now focused on modeling and model-based standards.- Overview :...
- Japan Robot AssociationJapan Robot AssociationThe Japan Robot Association is a trade association made up of companies in Japan that develop and manufacture robot technology. It was formed in 1971 as the Industrial Robot Conversazione. The association was reorganized and renamed as the Japan Industrial Robot Association in 1972, and was...