RT-Component Object Model in RT-Middleware - Distributed Component Middleware for RT (Robot Technology)
RT-Component Object Model in RT-Middleware - Distributed Component Middleware for RT (Robot Technology)
复制标题
RT-Middleware 中的 RT-Component 对象模型 - RT 的分布式组件中间件（机器人技术）
DOI：
10.1109/cira.2005.1554319
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
W. Yoon
中科院分区：
文献类型：
--
作者：
N. Ando;T. Suehiro;K. Kitagaki;T. Kotoku;W. Yoon
提出了一种用于机器人系统集成的RT中间件的RT组件对象模型。“RT”是“机器人技术”的意思，它不仅应用于工业领域，也应用于非工业领域，如人类的日常生活支持系统。RT中间件是RT系统的软件基础设施。我们研究了RT元素在软件层面的模块化。因此，RT中间件的出现促进了RT在各个领域的应用。机器人系统的开发方法和我们的RT中间件的概念进行了讨论。在此基础上，提出了基于实时中间件的系统集成的基本软件单元--实时构件。接着讨论了RT构件体系结构的对象模型和接口定义。最后对本文的工作进行了总结和展望
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 was discussed. RT-component, which is a basic software unit of RT-middleware based system integration, is derived from that discussion. Next, the object model and the interface definition of RT-component architecture was discussed. Finally conclusion and future work are described