<s>
OpenRTM-aist	B-Application
is	O
a	O
software	B-Device
platform	I-Device
developed	O
on	O
the	O
basis	O
of	O
the	O
RT	B-Application
middleware	I-Application
standard	O
.	O
</s>
<s>
OpenRTM-aist	B-Application
is	O
developed	O
by	O
National	O
Institute	O
of	O
Advanced	O
Industrial	O
Science	O
and	O
Technology	O
which	O
also	O
contributes	O
to	O
definition	O
of	O
the	O
RT-middleware	O
standard	O
.	O
</s>
<s>
In	O
RT	B-Application
middleware	I-Application
,	O
all	O
robotic	O
technological	O
elements	O
,	O
such	O
as	O
actuators	B-Algorithm
and	O
sensors	O
,	O
are	O
regarded	O
as	O
RT-components	O
(	O
RTC	O
)	O
.	O
</s>
<s>
The	O
RT-middleware	O
can	O
thus	O
be	O
considered	O
as	O
a	O
distributed	O
control	O
architecture	O
.	O
</s>
<s>
RT-middleware	O
is	O
originally	O
a	O
platform	B-Architecture
independent	I-Architecture
model	I-Architecture
(	O
PIM	O
)	O
.	O
</s>
<s>
Implementations	O
of	O
this	O
model	O
include	O
CORBA	B-Architecture
,	O
Enterprise	B-Language
JavaBean	I-Language
(	O
EJB	B-Language
)	O
,	O
and	O
.NET	B-Application
Framework	I-Application
.	O
</s>
<s>
OpenRTM-aist	B-Application
is	O
based	O
on	O
the	O
CORBA	B-Architecture
technology	O
and	O
implements	O
the	O
extended	O
RTC	O
specification	O
.	O
</s>
<s>
Experiences	O
with	O
OpenRTM-aist	B-Application
will	O
be	O
fed	O
back	O
to	O
the	O
RT-middleware	O
standardization	O
process	O
.	O
</s>
<s>
OpenRTM-aist	B-Application
implements	O
some	O
extended	O
RTC	O
features	O
,	O
and	O
it	O
also	O
includes	O
a	O
Manager	O
component	O
to	O
help	O
manipulating	O
RTCs	O
.	O
</s>
<s>
RTCs	O
in	O
OpenRTM-aist	B-Application
can	O
be	O
implemented	O
using	O
many	O
programming	O
languages	O
,	O
and	O
RTCs	O
programmed	O
in	O
different	O
languages	O
can	O
communicate	O
with	O
each	O
other	O
.	O
</s>
<s>
A	O
lot	O
of	O
tools	O
to	O
ease	O
RTC	O
manipulations	O
are	O
also	O
released	O
by	O
the	O
National	O
Institute	O
of	O
Advanced	O
Industrial	O
Science	O
and	O
Technology	O
and	O
their	O
co-workers	O
(	O
in	O
a	O
strict	O
sense	O
,	O
OpenRTM-aist	B-Application
itself	O
is	O
a	O
library	B-Library
and	O
does	O
not	O
include	O
these	O
tools	O
)	O
.	O
</s>
<s>
The	O
RT-component	O
is	O
a	O
functional	O
unit	O
which	O
conforms	O
to	O
the	O
RT-component	O
specification	O
defined	O
by	O
OMG	B-Architecture
.	O
</s>
<s>
In	O
OpenRTM-aist	B-Application
,	O
RTCs	O
have	O
data	O
ports	O
,	O
service	O
ports	O
,	O
and	O
execution	O
context	O
which	O
controls	O
the	O
RTC	O
's	O
state	O
.	O
</s>
<s>
In	O
OpenRTM-aist	B-Application
,	O
primitive	O
data	O
types	O
(	O
like	O
"	O
TimedLong	O
"	O
,	O
"	O
TimedDouble	O
"	O
,	O
and	O
so	O
on	O
)	O
are	O
implemented	O
.	O
</s>
<s>
Developers	O
can	O
define	O
their	O
own	O
data	O
types	O
by	O
describing	O
IDL	B-General_Concept
file	O
.	O
</s>
<s>
Tools	O
can	O
parse	O
the	O
IDL	B-General_Concept
file	O
and	O
automatically	O
generate	O
the	O
skeleton	O
and	O
stub	O
file	O
of	O
the	O
original	O
data	O
types	O
.	O
</s>
<s>
Developers	O
should	O
define	O
service	O
port	O
interfaces	O
by	O
making	O
their	O
IDL	B-General_Concept
files	O
.	O
</s>
<s>
In	O
OpenRTM-aist	B-Application
,	O
several	O
kinds	O
of	O
execution	O
contexts	O
are	O
provided	O
.	O
</s>
<s>
the	O
periodic	O
execution	O
context	O
,	O
one	O
of	O
the	O
most	O
commonly	O
used	O
,	O
provides	O
periodic	O
calls	O
of	O
the	O
"	O
on_execute	O
"	O
event-handler	O
(	O
sensor	O
acquisition	O
or	O
actuator	B-Algorithm
control	O
are	O
usually	O
implemented	O
there	O
)	O
;	O
</s>
<s>
the	O
real-time	O
execution	O
context	O
,	O
which	O
uses	O
Linux	B-Application
's	O
pre-emptive	O
kernel	O
function	O
,	O
supports	O
real-time	O
operation	O
of	O
the	O
RTC	O
;	O
</s>
<s>
the	O
extra	O
trigger	O
execution	O
context	O
is	O
an	O
important	O
characteristic	O
of	O
OpenRTM-aist	B-Application
.	O
</s>
<s>
OpenRTM-aist	B-Application
runs	O
on	O
Windows	O
,	O
Linux	B-Application
and	O
macOS	B-Application
.	O
</s>
<s>
Furthermore	O
,	O
VxWorks	B-Operating_System
is	O
supported	O
experimentally	O
.	O
</s>
<s>
Since	O
OpenRTM-aist	B-Application
is	O
based	O
on	O
the	O
CORBA	B-Architecture
technology	O
,	O
it	O
supports	O
several	O
programming	O
languages	O
,	O
including	O
:	O
</s>
<s>
C++	B-Language
,	O
</s>
<s>
Java	B-Language
,	O
</s>
<s>
Erlang	B-Operating_System
(	O
unofficial	O
)	O
.	O
</s>
<s>
OpenRTM-aist	B-Application
also	O
supports	O
RTC-template	O
which	O
is	O
a	O
command-line	O
type	O
skeleton-code	O
generation	O
tool	O
.	O
</s>
<s>
OpenRTM-aist	B-Application
is	O
licensed	O
under	O
the	O
GNU	B-Application
Lesser	I-Application
General	I-Application
Public	I-Application
License	I-Application
(	O
LGPL	B-Application
)	O
.	O
</s>
