RT middleware

In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting those RT-components. This distributed architecture helps developers to reuse the robotic elements and boosts the reliability of the robotic system.

Each RT-component has a port as an endpoint for communicating other RT-components. Every port has its type and the ports which have the same type can be connected each other.

RT-components also have state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR. States and behaviors are controlled by the execution-context. If developers want to change the behavior of their RT-components, the execution-context can be replaced at runtime.

RT-middleware is just standard of the Robotics platform software. Implementations of the RT-middleware are as follows:

• OpenRTM-aist is an implementation of the RT-middleware on the basis of CORBA platform developed by National Institute of Advanced Industrial Science and Technology. Using CORBA's characteristics, OpenRTM-aist is available for multi-platform and multi-language environment.[3]
• OpenRTM.NET is an implementation of the RT-middleware for the .NET Framework platform.[4]
• RTM on Android is being implemented on Android OS.[5]
• RTC Lite is a future modified RT-middleware for embedded or small-resource systems.[6]
• RTM Safety to pass the IEC 61508 standard.[7]

• ROS (Robot Operating System) developed by Willow Garage.[8][9]
• Orocos (Open Robot Control Software) C++ framework for component-based robot control software[10]
• OPRoS developed by Korea Association of Robot Industry (KAR)[11]

• Robot
• Open-source robotics
• Middleware
• New Energy and Industrial Technology Development Organization
• National Institute of Advanced Industrial Science and Technology
• Object Management Group
• Japan Robot Association

• RT-middleware Project (Japanese)
• OpenRTM-aist
• OpenRT Platform
• VirCA - Virtual Collaboration Arena framework powered by RT-Middleware