Network Distributed Monitoring System for Home Service Robots Based on RT Middleware

In this paper, we developed a network distributed monitoring system for home service robots to improve the interaction among the users and local service robotic system. Home integration robot system and network monitoring system using QuickCam Orbit cameras were developed and demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. In order to extend the application of system, we improved the developed network distributed monitoring system using IEEE1394 cameras with high performance and high resolution. Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop robotic functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks. It is also easy to create comprehensive robot system application by re-using existing RT modules. The developed system can facilitate network-distributed software sharing and improve the cost of writing and maintaining software.