二、机器人模块化与机器人 RT-Middleware RT-Components Logic .device control .algorithms RT Component RT .applications Framework Component ete... Logic/algorithm with common interfaces RT-Component(RTC) RTC RTC RTC RTC RTC RTC RTC RTC RT-Middleware Execution environment for RTC=RT-Middleware(RTM) RTCs can be distributed across a network 12RT-Middleware & RT-Components 12 RT Component Framework RT Component Logic Logic/algorithm with common interfaces = RT-Component （RTC ） RT-Middleware RTC RTC RTC RTC RTC RTC RTC RTC Execution environment for RTC ＝RT-Middleware （RTM ） ※RTCs can be distributed across a network ・device control ・algorithms ・applications etc… 二、机器人模块化与云机器人