Tham khảo tài liệu 'manufacturing the future 2012 part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Distributed Architecture for Intelligent Robotic Assembly Part I Design. 341 to their respective type and another problem of the event channel is that it could saturate the network since it does not have an event filter and sends all messages to all clients. The event services does not contemplate the use of QoS Quality of Service related with the priority liability and order. The third technique is based on the Notification Service of CORBA. It is an improvement of the Service of Events. The most important improvement includes the use of QoS. In the notification service each client uses the events in which it is interested. The implementation of the Callback technique offers a better performance than the others however the ones based on the event channel are easily scalable. The technique used in our research is Callback since the number of clients is not bigger of 50. In Amoretti 2004 it is proposed a robotic system using CORBA as communication architecture and it is determined several new classes of telerobotic applications such as virtual laboratories remote maintenance etc. which leads to the distributed computation and the increase of new developments like teleoperation of robots. They used a distributed architecture supporting a large number of clients written in C and using CORBA TAO as middleware but it is an open architecture and it does not have intelligence just remote execution of simple tasks. In Bottazzi et al. 2002 it is described a software development of a distributed robotic system using CORBA as middleware. The system permits the development of Client-Server application with multi thread supporting concurrent actions. The system is implemented in a laboratory using a manipulator robot and two cameras commanded by several users. It was developed in C and using TAO. In Dalton et al. 2002 several middleware are analyzed CORMA RMI Remote Method Invocation and MOM Message Oriented Middleware . But they created their own protocol based on MOM for .
