Chapters authored
How to Keep the Binary Compatibility of C++ Based Objects
This chapter proposes the binary compatibility object model for C++ (BiCOMC) to provide the binary compatibility of software components in order to share objects among C++ based executable files such as .exe, .dll, and .so. In addition, the proposed model provides the method overriding and overloading, multiple inheritance, and exception handling. This chapter illustrates how to use the proposed model via a simple example in the Windows and Linux environment. The proposed method is validated by application examples and comparisons with known object models such as C++, COM, and CCC in terms of the call time of a method during execution and the binary compatibility such as reusability due to interface version and the types of compilers. Also this chapter shows that BiCOMC-based components compiled with Microsoft Visual C++ and GCC can call each other and the interface version problems are resolved.
Part of the book: Computer Methods and Programs in Biomedical Signal and Image Processing
Real-Time Robot Software Platform for Industrial Application
In this study, we present the requirements of a real-time robot software (SW) platform that can be used for industrial robots and examine whether various kinds of existing middleware satisfy them. Moreover, we propose a real-time robot SW platform that extends RTMIA to various industrial applications, which is implemented on Xenomai real-time operating system and Linux. The proposed SW platform utilizes the timer-interrupt based approach to keep strict period and the shared memory for convenient usage, on which the shared variable is designed and used. We verify the proposed platform by showing that the robot task and the Programmable Logic Controller (PLC) program are performing with interlocking each other on the presented platform.
Part of the book: Industrial Robotics