Development of Light-Weight RT-Component (LwRTC) on Embedded Processor -Application to Crawler Control Subsystem in the Physical Agent System-

Author

TSUCHIYA, Yutaka ; Mizukawa, Makoto ; Suehiro, Takashi ; Ando, Noriaki ; Nakamoto, Hiroyuki ; Ikezoe, Akihiro

Author_Institution

Dept. of Electr. Eng., Shibaura Inst. of Technol., Tokyo

fYear

2006

Firstpage

2618

Lastpage

2622

Abstract

Because the RT middleware is only supported by ORBs implemented on PCs, application to a small-scale system and the small-size robot seems to be difficult. To reduce power consumption and developing distributed RT-components on micro processors, application of the RT middleware to the embedded processing system and arbitrary network system are important. In this paper, we report the LwRTC that is the implementation of the RT-component on embedded micro-processors, and the prototype system for the mobile robot using LwRTC

Keywords

control engineering computing; controller area networks; embedded systems; middleware; mobile robots; telerobotics; RT middleware; crawler control subsystem; embedded processor; light-weight RT-component; mobile robot; physical agent system; Control systems; Crawlers; Embedded computing; Intelligent agent; Intelligent robots; Lighting control; Middleware; Optical control; Resource management; Robot sensing systems; Controller Area Network (CAN); Distributed Control System; Embedded Computer; Physical Agent System; RT-Middleware;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.314958

Filename

4108087