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With the availability of powerful embedded CPU, it is possible to integrate multiple proprietary devices and field-buses into a system. This paper proposed the CDM (common device model) as a universal model for the devices and field-buses. With the universal interface of CDM, the system could manipulate the data from/to the devices in a universal way. CDM is composed of two parts: common device interface and device drivers. The novel model has been applied for robot control based on the distributed control application platform.
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Hao et al. (2004) studied this question.