An organic, real-time middleware architecture for distributed industrial robot system

As the tasks in industrial robot area have became more and more complexity, several heterogeneous and homogeneous real-time robots have to work together to complete a complex task. To cope with the increasing complexity, the concept of middleware-based architecture has been advanced. In this paper, we present an organic real time middleware architecture named MIDDIE which is a service-oriented middleware. We designed and developed the MIDDIE platform that has real-time and organic properties. We adopt a trade-off Organic Mechanism, which has both the global Organic Manager and local Organic Manager - Robot Agent, to achieve self-configuration, self-optimization, and self-healing. The simulation experiment verified the MIDDIE feasible and its real-time and organic properties.