Module design of RT module in ubiquitous robot environment

In order to build a ubiquitous robot environment, distributed modules are necessary. These modules can work independently, provide RT functionality and communicate with each other. We call these modules: RT modules. It is important to define the hardware and software interface of RT modules. If such interface is properly defined, the modules become usable and reusable. In this research, we proposed an initial Module Design with properly defined interfaces. This Module Design consists on analyzing functions which the module should perform, and designing architectures in which those functions should be mounted. This approach is a key factor for the development of RT modules which can be used in many different applications.