Project

General

Profile

Statistics
| Branch: | Revision:

colonymech / docs / www / colonyscout / cache / platform.html @ f59acf11

History | View | Annotate | Download (6.71 KB)

1

    
2
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 
3
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> 
4
                <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/>        
5
                <meta name="description" content="Scout uses a dual chip architecture of an ARM9 and an AVR."/> 
6
                <meta name="keywords" content="ARM9, linux, rtos, real time, processing, pcb, Scout"/> 
7
 
8

    
9
<script src="/cufon-yui.js" type="text/javascript"></script>
10
<script src="/Geogrotesque_Semibold_600.font.js" type="text/javascript"></script>
11
<script type="text/javascript">
12
        Cufon.replace('h1');
13
        Cufon.replace('h2');
14
        Cufon.replace('#pagenav');
15
</script>
16

    
17
<script language="javascript">
18
  function toggleDiv(divid){
19
    if(document.getElementById(divid).style.display == 'none'){
20
      document.getElementById(divid).style.display = 'block';
21
    }else{
22
      document.getElementById(divid).style.display = 'none';
23
    }
24
  }
25
</script>
26
<link href="/main.css" rel="stylesheet" type="text/css" media="screen">
27
<!--[if lte IE 7]><link rel="stylesheet" type="text/css" href="/mainIE.css" /><![endif]-->                <title>Software Platform | ColonyScout.com</title> 
28
 
29
</head>
30
<body bgcolor="#eeeeee"> 
31

    
32
<div id="general">
33
        <div id="top">
34
                <a href="index.php"><img src="/images/scout_logo.gif"></a>
35
                <div id="top-navigation">
36
                        <a title="Introduction to the Scout robot" href="/intro.php">Introduction</a>
37
                        <a title="Mechanics of the Colony Scout" href="/mechanics.php">Mechanics</a>
38
                        <a title="Sensors and Communications" href="/sensors.php">Sensors &amp; Communication</a>
39
                        <a title="Platform: Software and Hardware" href="/platform.php">Platform</a>
40
                        <a title="Applications for the Colony Scout" href="/applications.php">Applications</a>
41
                        <a title="Video of the Scout in Action" href="/gallery.php">Video</a>
42
                        <a title="Meet the Scout Team" href="/contact.php">Contact</a>
43
                        <a title="Contact The Scout Design Team" href="/team.php">Team</a>
44
                </div>
45
        </div> 
46
        <div id="body">
47
                <div id="body-boxes">
48
                        <div class="box-row">
49
                                <div class="white-top"></div>
50
                                <div class="white-body text-box">
51
                                        <a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('hardware');">
52
                                        <h1>Hardware Platform</h1><img src="images/btn_expand.png" /></a>
53
                                        <p><span class="description">Scout uses a dual chip architecture to support a vast array of 
54
                                        devices and provide computational prowess. The system flash memory is expandable and can grow to 
55
                                        meet storage demands.
56
                                        <br/><br/><a href="javascript:;" onmousedown="toggleDiv('hardware');"><em>learn more &gt;&gt;</em></a>                                                                                
57
                                        </span></p>
58
                                        
59
                                        <div id="hardware">
60

    
61

    
62
                                        <div class="content-box">
63
                                                <h2>System Overview</h2>
64
                                                <p>The Scout mainboard pairs an 8-bit AVR as an IO node with an 32-bit ARM9 for heavy computational 
65
                                                tasks.</p>
66
                                                <p><img src="images/software_blockdiagram.png" alt="Scout board design couples an ARM9 and AVR together."/></p>                                        </div>
67
                                        <div class="side-box">
68
                                                <h3>System Specifications</h3>
69
                                                        <ul>
70
                                                                <li>Atmel&reg; ARM9&trade; (AT91SAM9260)</li>
71
                                                                        <ul>
72
                                                                                <li>Clocked at 208Mhz</li>
73
                                                                                <li>32-bit</li>
74
                                                                                <li>MMU</li>
75
                                                                        </ul>
76
                                                                <li>ATMega&trade; 128</li>
77
                                                                        <ul>
78
                                                                                <li>Clocked at 16Mhz</li>
79
                                                                                <li>8-bit</li>
80
                                                                        </ul>
81
                                                                <li>512MiB SDRAM</li>
82
                                                                <li>16Mbit DataFlash + microSD Support</li>
83
                                                                <li>Atmel&trade; AT86RF231 Zigbee&reg; Wireless</li>
84
                                                        </ul>
85
                                        </div>                                        
86

    
87
                                        </div><!--end 'hardware' collapse-->                        
88
                                        
89
                                </div>
90
                                
91
                                <div class="white-body text-box">
92
                                        <div class="hr"></div>
93
                                        <a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('os');">
94
                                        <h1>Software Architecture</h1><img src="images/btn_expand.png" /></a>
95
                                        <p><span class="description">Scout runs a <a href="http://prex.sourceforge.net/"/>Prex soft-RTOS</a> 
96
                                        (real time operating system), which provides guarantees for tasks with strict deadlines. The 
97
                                        multi-process architecture provides flexibility in programming robot behaviors, and any software 
98
                                        lanugage can be used.
99
                                        <br/><br/><a href="javascript:;" onmousedown="toggleDiv('os');"><em>learn more &gt;&gt;</em></a>                                        
100
                                        </span></p>
101
                                        
102
                                        <div id="os" style="display:none;">
103
                                        
104
                                        <div class="content-box">
105
                                                Multitasking will allow the software that runs on the robot to be split up into tasks which can each handle a 
106
                                                subsystem such as wireless communication or odometry. Users will be able to write high level programs and 
107
                                                depend on the operating system and Scout library to create robot behaviors.
108

    
109
                                                <p>The operating system will also provide abstractions like virtual memory which will prevent errors in 
110
                                                behaviors from crashing the robot. If a user application fails, the system can recover and continue running tasks 
111
                                                which will do things like cliff detection or even autonomous recharging.</p>
112
                                        </div>
113
                                        
114
                                        <div class="side-box">                                        
115
                                                <h3>POSIX compliant OS</h3>
116
                                                <ul>
117
                                                        <li>Use standard UNIX tools (ssh, bash, compile on the robot)</li>
118
                                                        <li>IPv6 6LoWPAN Networking</li>
119
                                                        <li>Program behaviors in any language</li>
120
                                                        <li>Emulate with QEMU</li>
121
                                                </ul>
122
                                        </div>
123
                                        
124
                                        </div><!--end 'os' collapse-->                        
125
                                        
126
                                </div>
127
                                
128
                                <div class="white-body text-box">
129
                                        <div class="hr"></div>                                
130
                                        <div id="bottom-nav">
131
                                                <ul id="pagenav">
132
                                                        <li class="previous">
133
                                                                <a href="/sensors.php">Sensors &amp; Communication</a></li>
134
                                                        <li class="next">
135
                                                                <a href="/applications.php">Applications</a></li>
136
                                                </ul>
137
                                        </div>
138
                                </div>
139
                                
140
                                <div class="white-bottom"></div>
141
                        </div>                                                
142
                        
143
                        
144
                </div>        
145
        </div> <!--BODY!--> 
146

    
147

    
148
        <div id="footer">
149
                <center><p>
150
                <span class="small" style="position:relative; top:30px; left:0px;">&copy;2009-2010 ColonyScout.com. All Rights Reserved. 
151
                | <a href="index.php">Home</a>
152
                | <a href="team.php#contact">Contact</a>
153
                | <a href="sitemap.php">Sitemap</a>
154
                | <a href="internal/">Internal</a>
155
                | <a href="http://www.roboticsclub.org/redmine/wiki/colonyscout">Wiki</a></span>
156
                </p></center>
157
        </div>
158

    
159
<script type="text/javascript"> Cufon.now(); </script>        
160
<script type="text/javascript">
161

162
  var _gaq = _gaq || [];
163
  _gaq.push(['_setAccount', 'UA-6089041-2']);
164
  _gaq.push(['_trackPageview']);
165

166
  (function() {
167
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
168
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
169
    (document.getElementsByTagName('head')[0] || document.getElementsByTagName('body')[0]).appendChild(ga);
170
  })();
171

    
172
</script>
173
</div><!--GENERAL!--> 
174
 
175
</body></html>