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RT-middleware (''Robotics Technology Middleware'') is a common platform standards for Robots based on the distributed object technology.〔Noriaki ANDO, Takashi SUEHIRO, Kosei KITAGAKI, Tetsuo KOTOKU, Woo-Keun Yoon, "RT-Middleware: Distributed Component Middleware for RT (Robot Technology)", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), pp.3555-3560, 2005.08, Edmonton, Canada〕 RT-middleware supports the construction of various networked robotic systems by the integration of various network enabled robotic elements called RT-Components. The specification standard of the RT-component is discussed / defined by the Object Management Group (OMG).〔(Robotics Technology Component Specification version 1.0 ), Object Management Group (OMG)〕 == Characteristic == 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 re-use the robotic elements, and boosts the reliability of the robotic system. Each RT-component has 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 has its state, so the RT-components behaves as state machines. The states that RT-components can have are CREATED, INACTIVE, ACTIVE, and ERROR, and the 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 run-time. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「RT middleware」の詳細全文を読む スポンサード リンク
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