The EPICS project has intersting stuff for Orocos...

Stuff for discussion:

EPICS is the ``Experimental Physics and Industrial Control System''
<http://www-csr.bessy.de/epics/>
and they seem to have tackled many of the communication problems and
Corba discussions that we are currently having. They also have lots of
other interesting stuff on their website. 

 <http://mesa53.lanl.gov/lansce8/Epics/Epics2001SL/slac/Aida.pdf>

And they say their code is (partly) going to be open source in the
near future...

Herman

-- 
K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://www.mech.kuleuven.ac.be/~bruyninc>  +32 16 322480