The design of service-adaptive engine for robot middleware

BumHyeon Baek; YongSoon Choi; Hong Seong Park

doi:10.1117/12.784480

9 January 2008 The design of service-adaptive engine for robot middleware

BumHyeon Baek, YongSoon Choi, Hong Seong Park

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679424 (2008) https://doi.org/10.1117/12.784480
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

In this paper, we propose a design of Service-Adaptive Engine for robot middleware. This middleware called the KOMoR (Korea Object-oriented Middleware of Robot) is a middleware for robot that composed of three layers (Service Layer, Network Adaptation Layer, Network Interface Layer). In particular, Service-Adaptive Engine in Service Layer is responsible for communication between distributed applications and provides a set of features that support development of realistic distributed applications for a robot. Also, it avoids unnecessary complexity, making the middleware easy to learn and to use. For writing application, both client and server consist of a mixture of application code, library code, and code generated from IDL definition called MIDL (Module Interface Definition Language). The Service-Adaptive Engine in SL contains the client-and server-side run-time support for remote communication. The generic part of the Service-Adaptive Engine (that is, the part that is independent of the specific types you have defined in MIDL) is accessed through the SL API. The proxy code is generated from MIDL definitions and, therefore specific to the types of objects and data you have defined in MIDL.

Citation Download Citation

BumHyeon Baek, YongSoon Choi, and Hong Seong Park "The design of service-adaptive engine for robot middleware", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679424 (9 January 2008); https://doi.org/10.1117/12.784480

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