|標題:||EMWF for Flexible Automation and Assistive Devices|
|作者:||Chou, T. S.|
Wang, Y. C.
Liu, J. W. S.
Chang, S. Y.
Lu, Y. F.
Ouyang, M. K.
Kuo, T. W.
Shih, C. S.
Hu, J. S.
Institute of Electrical and Control Engineering
|關鍵字:||embedded Middleware;workflow architecture;component-based design;automation and assistive devices|
|摘要:||This paper describes an embedded workflow framework (EMWF) that enables flexible personal and home automation and assistive devices and service and social robots (collectively referred to as SISARL) to be built on workflow architecture. The process definition language supported by EMWF is called SISARL-XPDL. It consists of a subset of the WfMC standard XML Process Definition Language (XPDL) 2.0, together with elements that implement common mechanisms for robot behavior coordination. EMWF provides workflow engines for Linux and Windows CE platforms. The engines are written in C in order to keep their memory footprint and runtime overhead small. Performance data show that the overheads introduced by the engine and workflow data are tolerable for most SISARL devices.|
|期刊:||15TH IEEE REAL-TIME AND EMBEDDED TECHNOLOGY AND APPLICATION SYMPOSIUM: RTAS 2009, PROCEEDINGS|
|Appears in Collections:||Conferences Paper|