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RT middleware
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<h2 id="properties">Properties</h2> <p>In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting such components. This distributed architecture helps developers reuse the robotic elements and boosts the reliability of a system. </p><p>Each RT-component has a port as an endpoint for communicating to other RT-components. Every port has its type and the ports which have the same type can be connected each other. </p><p>RT-components also have <a href="/facts/State_(computer_science)/4Yu8xXHS">state</a>, so they behave as <a href="/facts/Finite-state_machine/GMusWd0a">finite-state machines</a>. The states they can have are: CREATED, INACTIVE, ACTIVE, and ERROR. States and behaviors are controlled by the execution-context. If component behavior must be changed, the execution-context can be replaced at runtime. </p> <h2 id="implementations">Implementations</h2> <p>RT-middleware is only a standard of the Robotics platform software. Implementations include: </p> <ul><li><a href="/facts/OpenRTM-aist/rmdhhe0y">OpenRTM-aist</a> is based on the <a href="/facts/Common_Object_Request_Broker_Architecture/VUDlTHs5">Common Object Request Broker Architecture</a> (CORBA) platform developed by <a href="/facts/National_Institute_of_Advanced_Industrial_Science_and_Technology/gQ4rdvNF">National Institute of Advanced Industrial Science and Technology</a>. Using CORBA properties, OpenRTM-aist is available for environments with multiple <a href="/facts/Computing_platform/DmKwp5Bk">platforms</a> and <a href="/facts/Programming_language/cWTYbgWa">programming languages</a>.<a class="footnote-ref" id="fnref:3" href="#fn:3"><sup>3</sup></a></li> <li>OpenRTM.NET is for the <a href="/facts/.NET_Framework/J6QDAUhP">.NET Framework</a>.<a class="footnote-ref" id="fnref:4" href="#fn:4"><sup>4</sup></a></li> <li>RTM on Android is being implemented on <a href="/facts/Android_(operating_system)/nNyHb0xz">Android (operating system)</a>.<a class="footnote-ref" id="fnref:5" href="#fn:5"><sup>5</sup></a></li> <li>RTC Lite is a future modified RT-middleware for embedded or small-resource systems.<a class="footnote-ref" id="fnref:6" href="#fn:6"><sup>6</sup></a></li> <li>RTM Safety to pass the IEC 61508 standard.<a class="footnote-ref" id="fnref:7" href="#fn:7"><sup>7</sup></a></li></ul> <h2 id="related-projects">Related projects</h2> <ul><li><a href="/facts/Robot_Operating_System/vWQLMAbT">Robot Operating System</a> (ROS) – <a href="/facts/C%252B%252B/Et0F2qn9">C++</a> <a href="/facts/Software_framework/EWasA8sG">software framework</a> developed by <a href="/facts/Willow_Garage/lVox1qKN">Willow Garage</a>.<a class="footnote-ref" id="fnref:8" href="#fn:8"><sup>8</sup></a><a class="footnote-ref" id="fnref:9" href="#fn:9"><sup>9</sup></a></li> <li>Open Robot Control Software (Orocos) – C++ software framework for component-based robot control software<a class="footnote-ref" id="fnref:10" href="#fn:10"><sup>10</sup></a></li> <li>OPRoS<a class="footnote-ref" id="fnref:11" href="#fn:11"><sup>11</sup></a> developed by Korea Association of Robot Industry (KAR)<a class="footnote-ref" id="fnref:12" href="#fn:12"><sup>12</sup></a></li></ul> <h2 id="see-also">See also</h2> <ul><li><a href="/facts/Robot/S5mDzWYk">Robot</a></li> <li><a href="/facts/Open-source_robotics/e6gWqKp0">Open-source robotics</a></li> <li><a href="/facts/Middleware/HobNosz9">Middleware</a></li> <li><a href="/facts/New_Energy_and_Industrial_Technology_Development_Organization/ekKrX8pd">New Energy and Industrial Technology Development Organization</a></li> <li><a href="/facts/National_Institute_of_Advanced_Industrial_Science_and_Technology/gQ4rdvNF">National Institute of Advanced Industrial Science and Technology</a></li> <li><a href="/facts/Object_Management_Group/SNpN8n9U">Object Management Group</a></li> <li><a href="/facts/Japan_Robot_Association/Q99CcuYb">Japan Robot Association</a></li></ul> <h2 id="external-links">External links</h2> <ul><li><a href="https://web.archive.org/web/20040504030512/http://www.is.aist.go.jp/rt/">RT-middleware Project (Japanese)</a></li> <li><a href="https://web.archive.org/web/20101010204852/http://www.openrtm.org/OpenRTM-aist/">OpenRTM-aist</a></li> <li><a href="https://web.archive.org/web/20120310175128/http://www.openrtp.org/wiki/_default/en/Home/">OpenRT Platform</a></li> <li><a href="http://www.virca.hu">VirCA - Virtual Collaboration Arena framework powered by RT-Middleware</a></li></ul> <h2 id="references">References</h2> <ol> <li id="fn:1"><p>Ando, Noriaki; Suehiro, Takashi; Kitagaki, Kosei; Kotoku, Tetsuo; Yoon, Woo-Keun (August 2005). RT-Middleware: Distributed Component Middleware for RT (Robot Technology). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005). Edmonton, Canada. pp. 3555–3560. <a href="/wiki/Edmonton" target="_blank">/wiki/Edmonton</a> <a href="#fnref:1" class="footnote-back-ref">↩</a></p></li> <li id="fn:2"><p>"Robotics Technology Component Specification version 1.0". Object Management Group (OMG). <a href="http://www.omg.org/spec/RTC/1.0/" target="_blank">http://www.omg.org/spec/RTC/1.0/</a> <a href="#fnref:2" class="footnote-back-ref">↩</a></p></li> <li id="fn:3"><p>OpenRTM-aist official website, http://www.openrtm.org/ <a href="https://www.openrtm.org/" target="_blank">https://www.openrtm.org/</a> <a href="#fnref:3" class="footnote-back-ref">↩</a></p></li> <li id="fn:4"><p>SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html] <a href="http://www.sec.co.jp/robot/download_rtm.html" target="_blank">http://www.sec.co.jp/robot/download_rtm.html</a> <a href="#fnref:4" class="footnote-back-ref">↩</a></p></li> <li id="fn:5"><p>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/] <a href="http://www.sec.co.jp/english/business/rtmsafety/" target="_blank">http://www.sec.co.jp/english/business/rtmsafety/</a> <a href="#fnref:5" class="footnote-back-ref">↩</a></p></li> <li id="fn:6"><p>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/] <a href="http://www.sec.co.jp/english/business/rtmsafety/" target="_blank">http://www.sec.co.jp/english/business/rtmsafety/</a> <a href="#fnref:6" class="footnote-back-ref">↩</a></p></li> <li id="fn:7"><p>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/] <a href="http://www.sec.co.jp/english/business/rtmsafety/" target="_blank">http://www.sec.co.jp/english/business/rtmsafety/</a> <a href="#fnref:7" class="footnote-back-ref">↩</a></p></li> <li id="fn:8"><p>"ROS – Robot Operating System". ROS.org. <a href="https://www.ros.org/" target="_blank">https://www.ros.org/</a> <a href="#fnref:8" class="footnote-back-ref">↩</a></p></li> <li id="fn:9"><p>"willowgarage.com". Willow Garage. <a href="http://www.willowgarage.com/" target="_blank">http://www.willowgarage.com/</a> <a href="#fnref:9" class="footnote-back-ref">↩</a></p></li> <li id="fn:10"><p>Orocos.org <a href="http://www.orocos.org/" target="_blank">http://www.orocos.org/</a> <a href="#fnref:10" class="footnote-back-ref">↩</a></p></li> <li id="fn:11"><p>"OPRoS". 3 January 2011. Archived from the original on 2011-07-04. <a href="https://web.archive.org/web/20110704131738/http://210.115.36.125:8001/opros_en/dokuwiki/doku.php" target="_blank">https://web.archive.org/web/20110704131738/http://210.115.36.125:8001/opros_en/dokuwiki/doku.php</a> <a href="#fnref:11" class="footnote-back-ref">↩</a></p></li> <li id="fn:12"><p>"KAR". Korea Association of Robot Industry. <a href="https://www.korearobot.or.kr/" target="_blank">https://www.korearobot.or.kr/</a> <a href="#fnref:12" class="footnote-back-ref">↩</a></p></li> </ol>