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Publication Detail
MIREA: Component-based Middleware for Reconfigurable, Embedded Control Applications
Abstract
This paper presents the MIREA middleware and its support for reusable, reconfigurable and hierarchical design of complex control systems. We review the middleware’s component model, key concepts and services, and its support for C++ plus its ability to integrate seamlessly with third-party libraries such as the National Institute of Standards and Technology (NIST)’s Real-Time Control Systems (RCS) library, which has been successfully used in many U.S government-driven intelligent control projects. This paper presents a case study based on control of our flock of autonomous UAV helicopters. This represents a challenging deployment scenario, but one for which the 4D/RCS architecture is designed and is well suited. Consequently, we discuss our approach to control using a fusion of RCS as a means of architecting a real time control system and MIREA as a means of realising that architecture. Our progress to date suggests that MIREA is indeed well suited as a middleware facilitating the construction of efficient, lightweight, and scalable real-time embedded control systems.
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