1P1-C35 A Development of RTComponent-Lite for Multiple Embedded Devices

Abstract

In our ubiquitous robot systems, which have various sensors, actuators and robots, various embedded devices are distributed and networked. These sensors and actuators are equipped with various types of embedded CPUs such as Microchip's PIC and Renesas's H8 and so on. In such system, more light-weight middleware is needed. In this paper, we propose a new framework of light-weight RT-Component, which is named "RT-Component-Lite", for various types of embedded devices. This framework is characterized by template-code generator, which supports same style programming for various types of CPUs. Finally, we will verify interoperability between RT-Component-Lite based components and CORBA based RT-Components.