Squareknot: A Flexible Framework for Actuators and Controllers in Smart Environment

To operate actuators (e.g., robots) with a certain controller in smart environment, it requires some programming for connecting between them. However, such programming without any structure often causes the system with the lack of extensibility and flexibility. In this paper, we show an implementation of the programming framework, called Squarekno t, for connecting between controllers and actuators based on MAC (Mapping between Actuators and Controllers) model. It provides the modularized structure to add new actuators and controllers in the environment easily. It also gives flexibility in customizing the operability for the actuators with the con troller.