<s>
RT-middleware	O
(	O
Robotics	O
Technology	O
Middleware	B-General_Concept
)	O
is	O
a	O
common	O
computing	B-Device
platform	I-Device
technical	O
standard	O
for	O
robots	B-Algorithm
based	O
on	O
distributed	O
object	O
technology	O
.	O
</s>
<s>
RT-middleware	O
supports	O
the	O
construction	O
of	O
various	O
networked	O
robotic	O
systems	O
by	O
integrating	O
various	O
network-enabled	O
robotic	O
elements	O
named	O
RT-Components	O
,	O
which	O
specification	O
standard	O
is	O
discussed	O
and	O
defined	O
by	O
the	O
Object	B-Architecture
Management	I-Architecture
Group	I-Architecture
(	O
OMG	O
)	O
.	O
</s>
<s>
In	O
the	O
RT-middleware	O
,	O
robotics	O
elements	O
,	O
such	O
as	O
actuators	O
,	O
are	O
regarded	O
as	O
RT-components	O
,	O
and	O
the	O
whole	O
robotic	O
system	O
is	O
constructed	O
by	O
connecting	O
such	O
components	O
.	O
</s>
<s>
RT-components	O
also	O
have	O
state	B-Application
,	O
so	O
they	O
behave	O
as	O
finite-state	B-Architecture
machines	I-Architecture
.	O
</s>
<s>
RT-middleware	O
is	O
only	O
a	O
standard	O
of	O
the	O
Robotics	O
platform	B-Device
software	O
.	O
</s>
<s>
OpenRTM-aist	B-Application
is	O
based	O
on	O
the	O
Common	B-Architecture
Object	I-Architecture
Request	I-Architecture
Broker	I-Architecture
Architecture	I-Architecture
(	O
CORBA	B-Architecture
)	O
platform	B-Device
developed	O
by	O
National	O
Institute	O
of	O
Advanced	O
Industrial	O
Science	O
and	O
Technology	O
.	O
</s>
<s>
Using	O
CORBA	B-Architecture
properties	O
,	O
OpenRTM-aist	B-Application
is	O
available	O
for	O
environments	O
with	O
multiple	O
platforms	B-Device
and	O
programming	O
languages	O
.	O
</s>
<s>
OpenRTM.NET	O
is	O
for	O
the	O
.NET	B-Application
Framework	I-Application
.	O
</s>
<s>
RTM	O
on	O
Android	B-Application
is	O
being	O
implemented	O
on	O
Android	B-Application
(	O
operating	O
system	O
)	O
.	O
</s>
<s>
RTC	O
Lite	O
is	O
a	O
future	O
modified	O
RT-middleware	O
for	O
embedded	O
or	O
small-resource	O
systems	O
.	O
</s>
<s>
Robot	B-Application
Operating	I-Application
System	I-Application
(	O
ROS	B-Application
)	O
–	O
C++	B-Language
software	B-Architecture
framework	I-Architecture
developed	O
by	O
Willow	O
Garage	O
.	O
</s>
