Distributed Objects for Real-time Control Systems

In this paper we will show how object-oriented techniques can be used for the structuring and implementation of large real time control systems. We map the physical system into a set of selfcontained software models internal resources that interact through high-level messages. These objects encapsulate specific control aspects from the synchronization necessities of the overall system. The synchronization is administered by an application-specific entity a controller. We further argue that this controller is best implemented as a distributed object, leading to a productrelated view of the system. Such a controller can be generalized, driven by adaptable recipes that describe the workprocess, giving a high-level implementation mechanism specifically developed for expressing distributed control of fabrication processes.