[[File:RTmiddleware logo.jpg|thumb|right|256px|Logo mark; Japan Robot Association]] '''RT-middleware''' ('''Robotics Technology Middleware''') is a common computing platform technical standard for robots based on distributed object technology.<ref>{{Cite conference |last1=Ando |first1=Noriaki |last2=Suehiro |first2=Takashi |last3=Kitagaki |first3=Kosei |last4=Kotoku |first4=Tetsuo |last5=Yoon |first5=Woo-Keun |title=RT-Middleware: Distributed Component Middleware for RT (Robot Technology) |date=August 2005 |conference=IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005) |pages=3555–3560 |place=Edmonton, Canada}}</ref> RT-middleware supports the construction of various networked robotic systems by integrating various network-enabled robotic elements named RT-Components, which specification standard is discussed and defined by the Object Management Group (OMG).<ref>{{Cite web |url=http://www.omg.org/spec/RTC/1.0/ |title=Robotics Technology Component Specification version 1.0 |website=Object Management Group (OMG)}}</ref>
== Properties == In the RT-middleware, robotics elements, such as actuators, are regarded as RT-components, and the whole robotic system is constructed by connecting such components. This distributed architecture helps developers reuse the robotic elements and boosts the reliability of a system.
Each RT-component has a port as an endpoint for communicating to 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 they behave as finite-state machines. The states they can have are: <code>CREATED</code>, <code>INACTIVE</code>, <code>ACTIVE</code>, and <code>ERROR</code>. States and behaviors are controlled by the execution-context. If component behavior must be changed, the execution-context can be replaced at runtime.
== Implementations == RT-middleware is only a standard of the Robotics platform software. Implementations include:
* OpenRTM-aist is based on the Common Object Request Broker Architecture (CORBA) platform developed by National Institute of Advanced Industrial Science and Technology. Using CORBA properties, OpenRTM-aist is available for environments with multiple platforms and programming languages.<ref>OpenRTM-aist official website, http://www.openrtm.org/</ref> * OpenRTM.NET is for the .NET Framework.<ref>SEC. Co., Ltd., [SEC, Robot Site http://www.sec.co.jp/robot/download_rtm.html]</ref> * RTM on Android is being implemented on Android (operating system).<ref>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]</ref> * RTC Lite is a future modified RT-middleware for embedded or small-resource systems.<ref>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]</ref> * RTM Safety to pass the IEC 61508 standard.<ref>SEC. Co., Ltd., [RTM Safety http://www.sec.co.jp/english/business/rtmsafety/]</ref>
== Related projects == *Robot Operating System (ROS) – C++ software framework developed by Willow Garage.<ref>{{Cite web |url=https://www.ros.org/ |title=ROS – Robot Operating System |website=ROS.org}}</ref><ref>{{Cite web |url=http://www.willowgarage.com/ |title=willowgarage.com |website=Willow Garage}}</ref> *Open Robot Control Software (Orocos) – C++ software framework for component-based robot control software<ref>[http://www.orocos.org/ Orocos.org]</ref> *OPRoS<ref>{{Cite web |url=http://210.115.36.125:8001/opros_en/dokuwiki/doku.php |title=OPRoS |author=<!-- Unstated staff writer --> |date=3 January 2011 |archive-url=https://web.archive.org/web/20110704131738/http://210.115.36.125:8001/opros_en/dokuwiki/doku.php |archive-date=2011-07-04}}</ref> developed by Korea Association of Robot Industry (KAR)<ref>{{Cite web |url=https://www.korearobot.or.kr/ |title=KAR |website=Korea Association of Robot Industry}}</ref>
== See also == *Robot *Open-source robotics *List of robotics software *Middleware *New Energy and Industrial Technology Development Organization *National Institute of Advanced Industrial Science and Technology *Object Management Group *Japan Robot Association
== References == {{Reflist}}
== External links == *[https://web.archive.org/web/20040504030512/http://www.is.aist.go.jp/rt/ RT-middleware Project (Japanese)] *[https://web.archive.org/web/20101010204852/http://www.openrtm.org/OpenRTM-aist/ OpenRTM-aist] *[https://web.archive.org/web/20120310175128/http://www.openrtp.org/wiki/_default/en/Home/ OpenRT Platform] *[http://www.virca.hu VirCA - Virtual Collaboration Arena framework powered by RT-Middleware]
Category:Robotics software Category:Robotics suites