CONCLUSION

The design, implementation, and application of ChJava which supports portable mixed language programming in C/C++ and Java have been presented in this paper. Using ChJava, Java bytecode can be executed from a C/C++ program interpretively in Ch. C/C++ programs can also be executed interpretively without compilation from a Java program. Applications can take advantage of the salient features of both C/C++ and Java. For example, C/C++ is ideal for interface with hardware whereas Java is more suitable for network computing and Java applet for graphical user interface through Web browsers. Applications can execute C/C++ scripts or Java bytecode interpretively. Application of ChJava for manipulation of mechatronic systems has been illustrated by control of a Barret robot manipulator hand. In this application, interface to hardware is accomplished using C/C++ scripts. The graphical interface is programmed in Java in different methods. In the first method, a standalone Java program is used. In the second method, a Java applet is used for interface through Web browsers. A mechatronic system can be either connected in a

client machine or in a Web server. When a mechatronic system is connected to a Web server, C/C++ scripts can be invoked through either CGI or JSP. JSP will be able to connect the server and a browser for continuous communication. It is expected that mixed language programming in C/C++ and Java with interpretive execution of C/C++ scripts and Java bytecode will find many applications in different fields of engineering and science.