Distributed Control of Robot Functions using RT Middleware

In the ubiquitous robot system, various embedded elements (ex. sensors, actuators, and computers) are distributed and connected each other over network. Ubiquitous Functions Activation Module (UFAM) has been developed in our research group as one of key device for ubiquitous robots. UFAM can add wireless communication function into embedded elements. UFAM has a relatively low performance micro processor, therefore light weight middleware is needed for improving reusability. RT component lite(RTC-Lite) has been developed as light weighted RT component. In this paper, the application of RTC-Lite to UFAM is discussed. Some modifications of RTC-Lite are required for handling UFAM protocol by RTC-Lite. We discuss about this modification, especially