2016 summercamp 当研究室でのrtミドルウエアの取り組み

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当研究室での RTミドルウェアの取り組み 埼玉大学 琴坂信哉 RTMサマーキャンプ2016 2015Aug01@産総研

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  • RT

    RTM2016

    2015Aug01@

  • !

    ! ! TK-80

    ! ! intel 4004 ! MC6809 4MHzHD68000(S)-10MHz ! 3D CG

    ! MPUForth, C ! 8FD

  • ! !

    ! OSSONY NEWSX10+Ethernet ver.1 ! OSUNIX

    ! K&RmanUNIXC! XWindow 10DTP

    ! !

  • ! !

    ! Sun SPARC Station1, VAX Station, Micro VAX II! ! FDDI10EWS1

    ! LUNAMAP

    ! ! Sun3NCSA httpdWebntt.jp

    ! ATR!

  • ! RTM ! RTM

    ! 20012002! !

    ! ! ver.2

    ! RTM! 2

    ! RTMRTM! SICE

  • RTM! RTM

    ! RTMI/F

    ! RTM! RTM! !

    ! RTM! USBRTM

  • RTM! RTM

    ! RTMI/F ! RTRT

    !

    ! RTM ! RT

    ! http://www.openrtm.org/openrtm/ja/node/4587

  • RTM! RTM

    ! RTMI/F ! RTRT

    !

    ! RTM ! RT

    ! http://www.openrtm.org/openrtm/ja/node/4587

    or RTM

  • RTM! RTM

    ! RTM! !

  • RTRT

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    http://www.openrtm.org/openrtm/ja/project/contest2013_1B2-4

  • RTRT

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    1 2013 10 29

    2

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    2013 10 23

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    or

  • NEDO RT

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    E-mail : [email protected]

    ORiNRT

    RTM RTM

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    2RTM-ORiNPC

    3RTORiN

    RTMORiNRTM-ORiN

    (SI 1.0)

    CAO CAO

    ORiN

  • NEDO RT

    RTM 00

    E-mail : [email protected]

    ORiNRT

    RTM RTM

    1RTM-ORiN

    2RTM-ORiNPC

    3RTORiN

    RTMORiNRTM-ORiN

    (SI 1.0)

    CAO CAO

    ORiN

  • I/F

    ! I/F !

    ! http://www.openrtm.org/openrtm/ja/project/Recommendation_CommonIF

    ! I/F ! RTM

    ! I/F ! SI

    ! http://www.openrtm.org/openrtm/ja/project/contest2013_1B2-5

    14

  • ORiN-RTM

    ! & ! ! ! !

    I/FRTC

    MELFA MOTOMAN

    DENSO

  • ORiN-RTM

    ! ! 1! 2! 3! 4RTM

    ! 5ORiN RTC

    ! 6! 7

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  • RTM! RTM

    ! USBRTM

  • RT

    ! USBRT

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    RTM

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  • USBRTM

  • USB! Github

    ! https://github.com/tork-a/openrtm_tutorial

    ! ! VISTON

    ! RTUSB !

    ! ARToolKit !

  • AR Took kit

  • USB! Github

    ! https://github.com/tork-a/openrtm_tutorial

    ! ! VISTON

    ! RTUSB !

    ! ARToolKit !

    RTM

  • RTM

    ! !

    ! ! GUI

    !

    ! ! OS! OS! !

    !

  • RTM

    ! ! OS ! !

    ! !

    !

    ! ! DB

  • RTM

    ! ! OS !

    ! !

    ! !

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    30

    Fig. RTC categoriza0on RTC