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                <meta name="description" content="Scout uses a dual chip architecture of an ARM9 and an AVR."/> 
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<!--[if lte IE 7]><link rel="stylesheet" type="text/css" href="/mainIE.css" /><![endif]-->                <title>Software Platform | ColonyScout.com</title> 
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<body bgcolor="#eeeeee"> 
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<div id="general">
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        <div id="top">
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                <a href="index.php"><img src="/images/scout_logo.jpg"></a>
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                <div id="top-navigation">
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                        <a title="Introduction to the Scout robot" href="/intro.php">Background</a>
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                        <a title="Mechanics of the Colony Scout" href="/mechanics.php">Platform</a>
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                        <a title="Sensors and Communications" href="/sensors.php">Sensors & Communication</a>
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                        <a title="Platform: Software and Hardware" href="/computing.php">Computing</a>
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                        <a title="Applications for the Colony Scout" href="/applications.php">How to Use It</a>
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                        <a title="Video of the Scout in Action" href="/gallery.php">Video</a>
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                        <a title="Scout Pricing" href="/pricing.php">Pricing</a>
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                                        <h1>Hardware Platform</h1><img src="images/btn_expand.png" /></a>
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                                        <p><span class="description">Scout uses a dual chip architecture to support a vast array of 
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                                        devices and provide computational prowess. The system flash memory is expandable and can grow to 
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                                        meet storage demands.
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                                        <br/><br/><a href="javascript:;" onmousedown="toggleDiv('hardware');"><em>learn more &gt;&gt;</em></a>                                                                                
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                                        <div id="hardware">
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                                        <div class="content-box">
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                                                <h2>System Overview</h2>
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                                                <p>The Scout mainboard pairs an 8-bit AVR as an IO node with an 32-bit ARM Cortex A8 for heavy computational 
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                                                tasks.</p>
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                                                <p><img src="images/software_blockdiagram.png" alt="Scout board design couples an ARM9 and AVR together."/></p>                                        </div>
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                                        <div class="side-box">
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                                                <h3>System Specifications</h3>
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                                                        <ul>
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                                                                <li>ARM Cortex&trade; A8 (TI OMAP 3503)</li>
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                                                                        <ul>
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                                                                                <li>Clocked at 600Mhz</li>
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                                                                                <li>32-bit</li>
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                                                                                <li>MMU</li>
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                                                                        </ul>
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                                                                <li>ATMega&trade; 128RFA1</li>
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                                                                        <ul>
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                                                                                <li>Clocked at 16Mhz</li>
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                                                                                <li>8-bit</li>
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                                                                                <li>Inbuilt Zigbee&reg; Wireless</li>
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                                                                        </ul>
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                                                                <li>256MB SDRAM</li>
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                                                                <li>256MB Flash + microSD Support</li>
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                                                        </ul>
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                                        </div>                                        
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                                        <h1>Software Architecture</h1><img src="images/btn_expand.png" /></a>
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                                        <p><span class="description">Scout runs on a Gumstix (Overo) port of <a href="http://www.ros.org/"/>ROS</a> 
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                                        (robot operating system), which provides the infrastructure necessary to control a complex robotic system. ROS has 
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                                        an active developer community, and the Scout team is proud to be a part of the developer network. The Scout port of ROS 
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                                        runs on top of Ubuntu (ARM).
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                                        <br/><br/><a href="javascript:;" onmousedown="toggleDiv('os');"><em>learn more &gt;&gt;</em></a>                                        
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                                        <div id="os" style="display:none;">
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                                        <div class="content-box">
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                                                Multitasking will allow the software that runs on the robot to be split up into tasks which can each handle a 
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                                                subsystem such as wireless communication or odometry. Users will be able to write high level programs and 
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                                                depend on the operating system and Scout library to create robot behaviors.
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                                                <p>The operating system will also provide abstractions like virtual memory which will prevent errors in 
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                                                behaviors from crashing the robot. If a user application fails, the system can recover and continue running tasks 
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                                                which will do things like cliff detection or even autonomous recharging.</p>
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                                        </div>
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                                        <div class="side-box">                                        
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                                                <h3>POSIX compliant OS</h3>
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                                                <ul>
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                                                        <li>Use standard UNIX tools (ssh, bash, compile on the robot)</li>
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                                                        <li>IPv6 6LoWPAN Networking</li>
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                                                        <li>Program behaviors in any language</li>
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                                                        <li>Emulate with QEMU</li>
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                                                </ul>
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                                                                <a href="/sensors.php">Sensors & Communication</a></li>
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                                                                <a href="/applications.php">How to Use It</a></li>
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                <span class="small" style="position:relative; top:30px; left:0px;">&copy;2009-2011 ColonyScout.com. All Rights Reserved. 
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                | <a href="/index.php">Home</a>
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                | <a href="/internal/">Internal</a>
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                | <a href="http://www.roboticsclub.org/redmine/wiki/colonyscout" target="_blank">Wiki</a></span>
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