Table 1: Key properties of several component integration frameworks for real-time systems.

CHILixCASTSEMAINE API

Application domainSmart SpacesInteractive RobotsEmotion-oriented systems
Integration approachXML messagesObjects in shared working memoryXML messages
Using standard formatsNoNoYes
Operating systemsWindows, Linux, MacLinux, MacWindows, Linux, Mac
Programming languagesC++, JavaC++, JavaC++, Java
Low-level communication platformNDFS IIIceActiveMQ
Open sourceNoYes, GPLYes, LGPL