RT Middleware Research Articles

Reusable robot system for display and disposal tasks at convenience stores based on a SysML model and RT Middleware

Service robots are increasingly being expected to replace human labor; however, in practical settings, these robots have not been fully utilized, partly because the applications that service robots are expected are quite broad. Suitable hardware and software should be developed in order to cope with a wide variety of applications. Ideally, these resources should be developed using common hardware and software platforms are required. Middleware platforms for robotics software, such as ROS and RT Middleware, have already been developed. However, these platforms still face reusability problems due to the inconsistency present in system architectures. Systems are typically assumed to be reused with a given architecture, and if the user-side software architecture is inconsistent with this assumption, the system's reusability suffers. To address this issue, we propose a procedure for optimizing system development using SysML. In this study, our robot system is designed to complete a display disposal tasks in a convenience store; we verify the validity of the robot system using this task. In addition, to verify the reusability of the developed robot system, we employ system functions developed for another task and demonstrate their reuse and operation.

Improvement of operability for Mobile Robot control with RT Middleware

Improvement of operability for Mobile Robot control with RT Middleware

AMQP Communication Interface on RT Middleware for highly-reliable IoR System Construction

MQTT is a very simple messaging protocol. This causes messaging systems to get high performance and low power consumption, and therefore MQTT protocol is suitable to construct IoT/IoR systems. However, the messaging performance is not only objective for IoT/IoR systems. In some cases, the quality of messaging service is more important than the messaging performance for some systems including mission critical process. On the other hand, AMQP messaging protocol just fits to construct highly-reliable systems. In this study, we focused on the advantage of AMQP and developed a new communication interface using AMQP on data port communication of OpenRTM-aist. The proposed communication interface enables developers to easily construct highly-reliable robot systems on RT middleware.

IDE for Intelligent Robot with RT Middleware and AI Framework

IDE for Intelligent Robot with RT Middleware and AI Framework

複数人の集合環境における追従ロボットの開発

We developed a basic function of a following robot by RT Middleware. In this study, our robot has a depth sensor and a laser rangefinder. The depth sensor detects people and gets torso. The laser rangefinder detects an object and distance from it. We developed a following function and avoiding colliding function. Our robot could lock on and follow a person in crowded environment. From experiments, a robot stopped when an obstacle was found. a robot can stop going when the robot loses sight of a target. In addition, it restarted following if robot could detect the torso again. In the future, we will consider target characterization and avoid obstacles automatically.

Studuino活用のためのRTコンポーネント群StarTnoの開発

For using RT middleware to easily, StarTno was developed StarTno. StarTno is a combination of the Studuino and RTno. Studuino is a Arduino-compatible board that ArTec has developed. RTno is a component that simplifies the communication between the RT components and Arduino. Useing the StarTno03, the robot can be easily operated by voice.

3A1-T03 Hadoop分散ファイルシステムとRT ミドルウェアを用いた大規模データベースの構築について(RTミドルウェアとオープンシステム)

3A1-T03 Hadoop分散ファイルシステムとRT ミドルウェアを用いた大規模データベースの構築について(RTミドルウェアとオープンシステム)

3A1-U01 RTMを活用した移動カメラロボットの開発(RTミドルウェアとオープンシステム)

3A1-U01 RTMを活用した移動カメラロボットの開発(RTミドルウェアとオープンシステム)

3A1-T05 OpenRTMを利用した環境制御装置「バイオリモート」のモジュール化(RTミドルウェアとオープンシステム)

3A1-T05 OpenRTMを利用した環境制御装置「バイオリモート」のモジュール化(RTミドルウェアとオープンシステム)

3A1-T01 RTミドルウエアの産業応用を目的としたRTM-ORiNコンバータの開発(RTミドルウェアとオープンシステム)

3A1-T01 RTミドルウエアの産業応用を目的としたRTM-ORiNコンバータの開発(RTミドルウェアとオープンシステム)

Report of the RT Middleware Contest 2013

Report of the RT Middleware Contest 2013

G151053 RTミドルウェアを用いたバッテリー残量モニタリングシステムの開発

G151053 RTミドルウェアを用いたバッテリー残量モニタリングシステムの開発

1P1-L03 人物追従機能を有する付き添いロボットの開発(移動ロボットのための視覚)

This paper describes an attendant service robot using RT Middleware. We use laser range finders(LRFs) for human detection and tracking. Legs of people are first detected in LRF data and then temporally integrated with a linear motion model in order to estimate and predict the people positions. For each person, we compare his/her predicted position with detected leg positions, and choose the one with the shortest distance as the person's leg and update the position. We set three target positions as both sides and the back of the predicted target person position, and the robot usually uses one of the side positions and switches to the back position if it is necessary to avoid collisions, thereby realizing a safe following behavior. We developed a user interface that is composed of a web browser-based program and a server program running on the robot, by which the user can control the robot manually or switch the control modes with a smartphone.

RTミドルウェア対応組込みプラットフォーム群の開発

RTミドルウェア対応組込みプラットフォーム群の開発

Preface on RT Middleware Contest

Preface on RT Middleware Contest

Expectation for SICE RT middleware Contest from Robot Business Area

Expectation for SICE RT middleware Contest from Robot Business Area

Smart Home Network System Integration with RT Middleware for Embedded Controller

General-purpose robots have been constructed by a central system managing all robot elements by using a single high performance controller. Through advances in semiconductor technology, however, robot system developers can choose several types of robot designs, such as distributed arrangement in a house environment. Robot systems, e.g., environmental robots, are an important topic in robotics. Standardized communications and device specifications are important in actually utilizing such robot system. A userfriendly framework is also important. In this paper, we propose RT middleware for an embedded controller, which is based on standardized specifications in the OMG (Object Management Group). We also introduce reference hardware for developed RT middleware. Last, the HEMS (Home Energy Management System) is shown as an example system using developed middleware.

1P1-P05 AMP対応ART-LinuxとRTミドルウェアを用いたロボット制御系の構築と実時間性能の検討(RTミドルウェアとオープンシステム)

1P1-P05 AMP対応ART-LinuxとRTミドルウェアを用いたロボット制御系の構築と実時間性能の検討(RTミドルウェアとオープンシステム)

1P1-R04 RTミドルウェアを用いた移動サービスロボット用遠隔運用システム(RTミドルウェアとオープンシステム)

This paper describes a remote operation system for mobile service robots using RT middleware. The operation system supports the monitoring of the robot status and the scene around the robot, and a manual control through the internet. We developed two RTC-based programs and three standalone programs. The RTC-based programs are a robot control component and a transmission component which sends robot status or receives commands over TCP/IP. The standalone programs are a video server, an environment map sender and a client of operation software. We conducted experiments to verify that the system combining RTCs for robot control, LRF control, SLAM work successfully.

1P1-R02 DDSによる高速通信・フレキシブルなRTミドルウェアベースロボットシステム構造(RTミドルウェアとオープンシステム)

1P1-R02 DDSによる高速通信・フレキシブルなRTミドルウェアベースロボットシステム構造(RTミドルウェアとオープンシステム)