順次処理における動的再構成機能を備えた実時間制御ソフトウェア

概要

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Dividing a software component into simpler ones is an effective way to improve the manageability and reusability. However, in the case of conventional dynamically reconfigurable software architecture, the software becomes difficult to manage by dividing the components. The reason is that dividing the software components needlessly increases the number of the concurrent processes in such architecture because the software components correspond to the concurrent processes. Thus, the software components should be independent of the concurrent processes. In this paper, we present a software architecture equipped with the dynamic reconfigurability for the sequential process within a concurrent process. A multi-agent model lies at the base of the presented architecture. In our architecture, an agent, which is concurrent process, can consist of the voluntary number of the software components. And, we can modify the configuration of an agent, that is, the combination of the software components at runtime. We also describe the implementation of the real-time control software by applying the presented architecture.
社団法人日本ロボット学会の論文
2004-11-15