Composite component framework for RT-middleware (robot technology middleware)

Extended RT-Component Framework for RT-Middleware

“…In contrast, the extended RT-Component can have different periods of tasks in the priority queue. Communications among the internal tasks in the extended RTComponent is less overhead than that among the internal RT-Components in the composite component [4] because the former uses global variables and the latter uses GIOP. There are three different kinds of threads: local thread, connection thread, and worker thread.…”

“…The tasks of assigning the requests include that of unmarshaling the modified GIOP packets (line 2-9), as shown in Figure 6. We assume that one machine has a client and server RT-Components and compare the overhead of communications among internal RTComponents in the composite component [4] with that of communications among internal tasks in the extended RTComponent. However, the latter is very little because every internal task in the extended RT-Component can communicate with each other using global variables so that we measure only the former.…”

“…Composite component [4] accommodates multiple RTComponents, which is called internal RT-Components. The attributes of tasks in different RT-Components are managed by their container composite component to take care of timing constraints.…”

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

“…Coupled Layer Architecture for Robotic Autonomy (CLARAty) [7,[14][15][16][17][18][19][20][21][22][23][24][25][26] is an attempt by NASA, through collaboration with the California Institute of Technology's Jet Propulsion Laboratory, Ames Research Center, Carnegie Mellon University, and the University of Minnesota. OpenRTMaist [27][28][29][30][31][32] is a software platform developed by the National Institute of Advanced Industrial Science and Technology-Intelligent Systems Research Institute.…”

A General Framework of Mechatronic Modular Architecture

“…MS software architectures based on Component-Based Software Engineering (CBSE) are gradually accepted while some theories, such as OROCOS [6], RT-Middleware [7], 2 Advances in Mechanical Engineering MSRS [8], emphasize the reuse of partial software models, but the structural reuse method is not concerned when the hardware platforms have changed.…”