Analyzing the functional requirements of the interfaces, we chose to use for each component of the hardware platform the Atmel ATMEGA328 microcontroller, a master-slave communication on I2C serial bus for the RIP control loop and RS232 serial communication for the process monitoring [17,18]. Although the serial communication with the computer is slower than the communication between the interfaces of the platform, it does not intervene in the control process and the PC is used for monitoring purposes only.