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.

fYear

2006

Firstpage

2629

Lastpage

2632

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;

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.2006.314960

Filename

4108089