View source for Architecture:The RPD and APP databases

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= RPDs =

== Description ==

The Robotic Platform Descriptors (RPDs) address two problems of the robotic software: which parts do constitute the body of the robot, and how are they disposed spatially?. For example: how many devices of each type are attached to the robot? Where are they? If the head is turned to a given direction, where the cameras are pointing to? 

The RPD aims to solve these questions for modules in run-time. We define the RPD for a specific robot as the set of logical devices constituting that robot, their descriptions and their physical disposition on the robot. Some logical device types we consider are: sonar, infrared or laser sensors, wheels based mobile bases, cameras, PTUs or robotic arms. 

From our experience we know the usefulness of portable robotic applications, which can be executed on different robots. In these cases a part of the application will remain unchanged (high-level functions), while low-level, hardware dependant modules must be interchanged in the porting process. Now a given robotic platform is totally specifically by its RPD, which also specifies the low-level modules required for executing any application in that robot. Therefore, we store a diversity of such RPDs in a database, where additional information about low-level modules (HAD layer) is also kept. 

<center>
[[Image:RPD_overview.png]]

Fig. Robotic Platform Descriptors (RPDs) play the central role in the representation of the robot itself and its sensory and motor elements. In the figure the main concepts stored in this database are summarized. Refer to the text for further explanation. 
</center>


The RPDs is stored in a file in a database format. A design-time visual application (Visual_RPD_editor) allows us to visualize and change this database easily. It can be used, for example, to specify the addition of new sensors to a robot. This database is read in execution-time by the BABEL module RPD_Server, which did not appear in Error: Reference source not found, but acts as a server of information about the robotics platform for the rest of modules. Next we formally specify the database format.


== The XML database ==

''BABEL modules developers will usually use only the services of [[Architecture:RPD_Server| RPD_Server]] and the Visual RPD editor application, so this section can be skipped.''

RPDs for all robotic platforms, together with the required information about modules, are stored in a single file database (“roboticPlatformDescriptors.db”). Currently the format of this database is the simple structure defined by the MRPT C++ library  in the class [http://babel.isa.uma.es/mrpt/reference/svn/classmrpt_1_1utils_1_1_c_simple_database.html mrpt::utils::CSimpleDatabase]. 

Next we enumerate the existing tables in this database, describe its fields and how they are used. Note that all these specifications are only needed to programmers of the RPD_Server module and the Visual RPD Editor, since all other modules directly use the BABEL services of RPD_Server and do not deal with the database file at all. 

Next the general tables are specified. These tables will always be present, independently of the number of RPDs. 

=== Table: <code>RPD_list</code> ===

<CENTER>
<TABLE WIDTH=409 BORDER=1 BORDERCOLOR="#000000" CELLPADDING=7 CELLSPACING=0>
<TR>
<TD WIDTH=136 HEIGHT=2 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">NAME
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">RPD_list</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">DESCRIPTION
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">This table
enumerates all defined RPDs in the database: one per robotic
platform (physical or simulated robots)</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELDS</FONT></FONT></P>
</TD>
<TD WIDTH=242 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELD
DESCRIPTIONS</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">robot_name</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">The name of
the robotic platform.</FONT></P>
</TD>
</TR>
</TABLE>
</CENTER>
<P><BR><BR>
</P>

'''Example:'''

<xml>
  <table name="RPD_list">
    <fields>
      <robot_name />
    </fields>
    <record>
      <robot_name>SENA</robot_name>
    </record>
    <record>
      <robot_name>Sancho</robot_name>
    </record>
    <record>
      <robot_name>Picasso</robot_name>
    </record>
    <record>
      <robot_name>SimRobot</robot_name>
    </record>
  </table>
</xml>



=== Table: <code>selected_RPD</code> ===

<P><BR><BR>
</P>
<CENTER>
<TABLE WIDTH=409 BORDER=1 BORDERCOLOR="#000000" CELLPADDING=7 CELLSPACING=0>
<TR>
<TD WIDTH=136 HEIGHT=2 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">NAME
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">selected_RPD</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">DESCRIPTION
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">This table
holds only one record, with the name of the currently selected
robotic platform (or “robot”). This is checked at run-time to
determine which RPD is to be read.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELDS</FONT></FONT></P>
</TD>
<TD WIDTH=242 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELD
DESCRIPTIONS</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=12>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">selected_robot</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">An entry from
the table </FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">RPD_list</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">.</FONT></P>
</TD>
</TR>
</TABLE>
</CENTER>
<P><BR><BR>
</P>

'''Example:'''

<xml>
  <table name="selected_RPD">
    <fields>
      <selected_robot />
    </fields>
    <record>
      <selected_robot>Picasso</selected_robot>
    </record>
  </table>
</xml>

<br>


=== Table <code> <robot_name>:shape2D </code> ===

For each robot configuration listed in the table <code>RPD_list</code>,
the following table must exist containing geometric information about the robot.

The 2D shape will be used by the reactive navigation engine and also by 2D graphical displays.


<P><BR><BR>
</P>
<CENTER>
<TABLE WIDTH=409 BORDER=1 BORDERCOLOR="#000000" CELLPADDING=7 CELLSPACING=0>
<TR>
<TD WIDTH=136 HEIGHT=2 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">NAME
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">&lt;robot_name&gt;:shape2D</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">DESCRIPTION
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">&lt;robot_name&gt;</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">
stands for the actual robot name, from the table </FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">RPD_list.
</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">This table
gives a simple 2D shape of the robot, which can be used for
visual display or obstacle avoidance purposes. Notice that this
description is static as it does not change with possible mobile
parts of the robot.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELDS</FONT></FONT></P>
</TD>
<TD WIDTH=242 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELD
DESCRIPTIONS</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">x</FONT></FONT></P>
</TD>
<TD ROWSPAN=2 WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">
The only record in this table contains an x and y vector of 2D points (in meters) such as 
they build a closed polygon (i.e. an additional point is always added to close the polygon). 
The reference system is the reference point of the robot mobile base, i.e. typically the mid-point
between the motor wheels.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=12>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">y</FONT></FONT></P>
</TD>
</TR>
</TABLE>
</CENTER>



'''Example:'''

<xml>
  <table name="Sancho:shape2D">
    <fields>
      <x />
      <y />
    </fields>
    <record>
      <x> -0.30 -0.30 0.30  0.30 </x>
      <y> -0.20  0.20 0.20 -0.20 </y>
    </record>
  </table>
</xml>

<br>

<br>



=== Tables <code> <robot_name>:<module_name>:<module_alias> </code> ===

Each of these tables contains essential information for BABEL modules to properly initialize when executed under each specific robot. The name of the table is composed of:

* <code> <robot_name> </code>:  One of the robot configuration listed in the table <code>RPD_list</code>.
* <code> <module_name> </code>: The name of the module, for example "HAD_GPS".
* <code> <module_alias> </code>: An integer number for the "alias" of the module, starting at 0. Modules with only one "internal instance" or those where "alias" are not applicable must have this set to "0". This field is mainly intended for sensors, where several devices may be connected to the robot and thus only one module may have several "internal alias", each one dealing with one device.

The contents of each of these tables is a ".ini"-like configuration text block, which must replace any external configuration files needed by the modules.

Modules at run-time can retrieve this information by calling <code>getSettingsForModule</code> from the [[Architecture:RPD_Server|RPD_Server module]].

Each of these tables contains only one record with only one field named <code>config</code>.

'''Example:'''

<xml>
  <table name="Sancho:HAD_GPS:0">
    <fields>
      <config />
    </fields>
    <record>
      <config>
      // This is a configuration block for HAD_GPS
      [gps]
      COM_port    = COM1
      baud_rate   = 9600
      
      </config>
    </record>
  </table>
</xml>

<br>

<br>

=== Table <code> <robot_name>:RPD_physical_devices</code> ===

<BR><BR>

<center><b>THIS TABLE IS NOT IMPLEMENTED YET!!!!!!</b></center>

<CENTER>
<TABLE WIDTH=409 BORDER=1 BORDERCOLOR="#000000" CELLPADDING=7 CELLSPACING=0>
<TR>
<TD WIDTH=136 HEIGHT=2 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">NAME
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt"> &lt;robot_name&gt;:RPD_physical_devices</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">DESCRIPTION
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">&lt;robot_name&gt;</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">
stands for the actual robot name, from the table </FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">RPD_list.
</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">This table
lists the physical devices attached to the robot. It can be used
to determine the HAD layer modules which must be executed in the
robotic application. This table is also used to enter the
parameters to those modules for the specific case of this robotic
platform. </FONT>
</P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELDS</FONT></FONT></P>
</TD>
<TD WIDTH=242 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELD
DESCRIPTIONS</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">HAD_module</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">The name of
the HAD layer module.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=12>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">opening_params</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">A set of
lines with the format “param=value” each one, containing the
parameters to be supplied to the module in the
</FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">DRV_COMMON::open(·)</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">
BABEL service.</FONT></P>
</TD>
</TR>
</TABLE>
</CENTER>

<P><BR><BR>
</P>

=== Table <code> <robot_name>:RPD_logical_devices </code> ===


<center><b>THIS TABLE IS NOT IMPLEMENTED YET!!!!!!</b></center>

<CENTER>
<TABLE WIDTH=409 BORDER=1 BORDERCOLOR="#000000" CELLPADDING=7 CELLSPACING=0>
<TR>
<TD WIDTH=136 HEIGHT=2 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">NAME
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">&lt;robot_name&gt;:RPD_logical_devices</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">DESCRIPTION
OF TABLE</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">&lt;robot_name&gt;</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">
stands for the actual robot name, from the table </FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">RPD_list.
</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">This table
lists the logical devices of the robot, that is, the actual list
of elements building the sensory and motor system of the robot,
as well as their spatial position, physical connections between
them and HAD layer modules required to access them. </FONT>
</P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=3 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELDS</FONT></FONT></P>
</TD>
<TD WIDTH=242 BGCOLOR="#f3f3f3">
<P ALIGN=CENTER><FONT COLOR="#000080"><FONT SIZE=1 STYLE="font-size: 8pt">FIELD
DESCRIPTIONS</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">id</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">A numerical
index, starting from 0, which can be used as index for devices 
(0,1,2,3,…). Typically the robotic mobile base is the element
with id=0.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">type</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">The logical
device type, as specified in the table </FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">logical_device_types</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">isChainingPoint</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER>“<FONT SIZE=1 STYLE="font-size: 8pt">1” or
“0” depending on this element allowing (or not) other
elements to be physically attached to it. Most elements do not,
but for example, PTU or robotic arms can be used in this way. A
“1” in this field allows other devices to set this one as
their basePoint.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">idOfBase</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">The numerical
id of the physical device acting as the reference for the 3D-pose
of this one. Typically the base id=0 (mobile base) is used as
reference.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">x</FONT></FONT></P>
</TD>
<TD ROWSPAN=6 WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">The 3D pose
of this device, using the reference of the pose of the base
element specified in “idOfBase”. If this base is “a
chaining point”, the exact pose to be used is not the one of
that base element, but a relative displacement found through the
DRV_MOBILE_JOINT interface. </FONT>
</P>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">This allows
sensors mounted on PTUs, servos or robotic arms to be correctly
localized automatically.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">y</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">z</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">yaw</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">pitch</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">roll</FONT></FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=13>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">implementation</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">The name of
the HAD module where the required driver is implemented. Is this
is a “chaining point”, the “</FONT><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">DRV_MOBILE_JOINT</FONT></FONT><FONT SIZE=1 STYLE="font-size: 8pt">”
interface is assumed as well.</FONT></P>
</TD>
</TR>
<TR>
<TD WIDTH=136 HEIGHT=12>
<P ALIGN=CENTER><FONT FACE="Courier New, monospace"><FONT SIZE=1 STYLE="font-size: 8pt">options</FONT></FONT></P>
</TD>
<TD WIDTH=242>
<P ALIGN=CENTER><FONT SIZE=1 STYLE="font-size: 8pt">A list of
strings with the fomat “option=value” each one, where the
option names are stored in the table </FONT><FONT SIZE=1 STYLE="font-size: 8pt"><I>logical_device_types</I></FONT><FONT SIZE=1 STYLE="font-size: 8pt">
for this device </FONT><FONT SIZE=1 STYLE="font-size: 8pt"><I>type</I></FONT><FONT SIZE=1 STYLE="font-size: 8pt">.</FONT></P>
</TD>
</TR>
</TABLE>
</CENTER>