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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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</head>
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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">Introduction</a> |
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<a title="Mechanics of the Colony Scout" href="/mechanics.php">Mechanics</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="/platform.php">Platform</a> |
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<a title="Applications for the Colony Scout" href="/applications.php">Applications</a> |
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<a title="Video of the Scout in Action" href="/gallery.php">Video</a> |
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<a title="Meet the Scout Team" href="/contact.php">Contact</a> |
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<a title="Contact The Scout Design Team" href="/team.php">Team</a> |
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<a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('hardware');"> |
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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 >></em></a> |
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</span></p> |
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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™ 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™ 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® 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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</div><!--end 'hardware' collapse--> |
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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 >></em></a> |
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</span></p> |
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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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</div>
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<a href="/sensors.php">Sensors & Communication</a></li> |
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<a href="/applications.php">Applications</a></li> |
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<span class="small" style="position:relative; top:30px; left:0px;">©2009-2011 ColonyScout.com. All Rights Reserved. |
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