@article{oai:nagoya.repo.nii.ac.jp:00012590,
 author = {Azumi, Takuya and Takada, Hiroaki and Ukai, Takayuki and Oyama, Hiroshi},
 journal = {13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC)},
 month = {},
 note = {Software component techniques have been widely used for enhancement and the cost reduction of software development. We herein introduce a component system with a real-time operating system (RTOS). A case study of a two-wheeled inverted pendulum balancing robot with the component system is presented. The component system can deal with RTOS resources, such as tasks and semaphores, as components. Moreover, a trace functionality which is a new functionality to confirm the state of components or calling components without modification of C source code is introduced.},
 pages = {151--155},
 title = {Wheeled Inverted Pendulum with Embedded Component System : A Case Study},
 year = {2010}
}