<s>
Middleware	B-Application
for	I-Application
Robotic	I-Application
Applications	I-Application
(	O
MIRA	O
)	O
is	O
a	O
cross-platform	O
,	O
open-source	O
software	B-Architecture
framework	I-Architecture
written	O
in	O
C++	B-Language
that	O
provides	O
a	O
middleware	B-General_Concept
,	O
several	O
base	O
functionalities	O
and	O
numerous	O
tools	O
for	O
developing	O
and	O
testing	O
distributed	O
software	O
modules	O
.	O
</s>
<s>
beside	O
data	O
exchange	O
via	O
"	O
channels	O
"	O
,	O
MIRA	O
supports	O
Remote	B-Operating_System
Procedure	I-Operating_System
Calls	I-Operating_System
(	O
RPC	O
)	O
and	O
Remote	O
Method	O
Invokation	O
.	O
</s>
