Extended RT-component framework for RT-middleware

Hiroyuki Chishiro, Yuji Fujita, Akira Takeda, Yuta Kojima, Kenji Funaoka, Shinpei Kato, Nobuyuki Yamasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Modular component-based robot systems require not only an infrastructure for component management, but also scalability as well as real-time properties. Robot Technology (RT)-Middleware is a software platform for such component-based robot systems. Each component in the RT-Middleware, so-called "RT-Component" supporting particular robot functions, is based on Common Object Request Broker Architecture (CORBA). Unfortunately, the RT-Middleware lacks the mechanism for real-time control. In this paper, we extend the framework of the RT-Components to take care of timing constraints. We first enable tasks to have different periods within each RT-Component. We then modify the packet format of the General Inter-ORB Protocol (GIOP) to transfer the information of timing constraints over RT-Components. The performance evaluation on ART-Linux shows that the extended RT-Component framework improves the schedulability of distributed realtime tasks, without causing critical overheads in unmar-shaling the modified GIOP packets.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009
Pages161-168
Number of pages8
DOIs
Publication statusPublished - 2009 Nov 6
Event2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009 - Tokyo, Japan
Duration: 2009 Mar 172009 Mar 20

Publication series

NameProceedings of the 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009

Other

Other2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009
CountryJapan
CityTokyo
Period09/3/1709/3/20

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ASJC Scopus subject areas

  • Computer Science Applications
  • Software

Cite this

Chishiro, H., Fujita, Y., Takeda, A., Kojima, Y., Funaoka, K., Kato, S., & Yamasaki, N. (2009). Extended RT-component framework for RT-middleware. In Proceedings of the 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009 (pp. 161-168). [5231985] (Proceedings of the 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009). https://doi.org/10.1109/ISORC.2009.40