Title :
Distributed Control of Robot Functions using RT Middleware
Author :
Ohara, Kenichi ; Suzuki, Takashi ; Ando, Noriaki ; Kim, Bong Keun ; Ohba, Kohtaro ; Tanie, Kazuo
Author_Institution :
Syst. & Inf. Eng., Tsukuba Univ.
Abstract :
In the ubiquitous robot system, various embedded elements (ex. sensors, actuators, and computers) are distributed and connected each other over network. Ubiquitous Functions Activation Module (UFAM) has been developed in our research group as one of key device for ubiquitous robots. UFAM can add wireless communication function into embedded elements. UFAM has a relatively low performance micro processor, therefore light weight middleware is needed for improving reusability. RT component lite(RTC-Lite) has been developed as light weighted RT component. In this paper, the application of RTC-Lite to UFAM is discussed. Some modifications of RTC-Lite are required for handling UFAM protocol by RTC-Lite. We discuss about this modification, especially
Keywords :
distributed control; middleware; robots; ubiquitous computing; RT component lite; RT middleware; Ubiquitous Functions Activation Module; distributed control; ubiquitous robot system; Actuators; Computer networks; Distributed computing; Distributed control; Embedded computing; Middleware; Pervasive computing; Robot sensing systems; Sensor systems; Wireless communication; RT-Middleware; RTC-Lite; Ubiquitous Functions Activation Module; Ubiquitous Robotics;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314960
