Abstract
Conventional RT-Middleware (RTM) / RT-Components (RTC) require PC-level computational capacity and memory. To utilize RTC on embedded CPU based devices with other generic RTCs, the RTC-Lite component, which depends on a full-spec proxy component running on a PC, is necessary. In this paper, RT-Middleware (OpenRTM-aist) is ported into μITRON OS for embedded systems, and its new architecture for embedded systems is proposed. Experimental results and performance evaluation are also shown.
