RTC-Lite: Lightweight RT-Component for Distributed Embedded Systems

Abstract

In the previous studies, the authors have studied a software platform for robotic system integration, and proposed a component based software platform called the RT-Middleware (RTM) and the RT-Component (RTC). In the networked robotic systems, such as an intelligent space or ambient intelligence, a lot of embedded devices are distributed and networked. In such systems, very light-weight middleware for microprocessors is needed. In this paper, a model based robotic system integration approach to realize interoperability between microprocessor based devices and conventional RT-Component based systems is proposed. Based on the scheme of the model driven way, a lightweight RT-Component named RTC-Lite is derived from the original RT-Component's abstract model, and it is implemented as a new platform specific definition for microprocessors. Finally, it is shown that the microprocessor based RTC and the conventional PC based RTC can be developed by the almost same manner, and interoperability can be realized.