ERTS: A Robotic Platform for Collaborative Experimental Research Steven D Johnson Professor Indiana University School of Informatics.

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Presentation transcript:

ERTS: A Robotic Platform for Collaborative Experimental Research Steven D Johnson Professor Indiana University School of Informatics

Indiana University School of Informatics and Computing Multi-disciplinary programs in Bioinformatics, Chemical Informatics, Complex Systems, Data & Search, HCI, Logic, Music Informatics, Security Informatics, others Home of IU Computer Science Scientific Computing Grid/Cloud Computing Programming Languages & Methods Many programs involve robotics Cognitive robotics, “embodied intelligence”, perceptual interaction, etc. Embedded Systems research & instruction and others Robotics research in the process of consolidating

Research Landscape at IU MIND AND COGNITION EMBODIED INTELLIGENCE COGNITIVE ROBOTICS HUMAN-ROBOT INTERACTION COMPUTER LEARNING ARTIFICIAL INTELLIGENCE ADAPTIVE SYSTEMS BIOMORPHIC COMPUTATION MATHEMATICAL LOGIC FORMAL METHODS VERIFICATION & SYNTHESIS PROGRAMMING LANGUAGES EMBEDDED & RT SYSTEMS PERVASIVE TECHNOLOGIES DIGITAL SYSTEMS

ERTS ERTS is a standard electric golf car modified for computer control Started in 2006 Ongoing project in our Embedded & Real-Time Systems course and laboratory Functional goal: autonomous real- world navigation Mission: hosting experimentation & demonstration across a spectrum of research areas Experiment ERTS Host RTOS/LAN Digital Interface Physical Vehicle safety override ciruitry Sensors TCP/IP

ERTS Design Objectives Highly configurable. Capabilities determined by experimental needs Rapid prototyping. Fast results; hardware-rich environment. Easy Integration. Experimentation involving existing systems Minimal tool chain. Little time for specialized design environments Open Architecture. Access to deeply embedded functionality Maintainability. Rapid “turnover”

Current Work CartFS. Application interface through the file system Access ERTS by mounting it as a directory Components present as (memory mapped) file entities Language independent Distributable via NFS protocols Generic development environment, command-level scripting SyncFS. Support for synchronous design methods Provides a global “tick” for synchronization Modifies file read/write operations to occur at a “clock edge” Uses certain coding convention Frameworks for various programming languages

Year of ERTS Initiative in to engage with scientists to develop preliminary experimental prototypes Identify and design experiments Form multidisciplinary teams Basic training Prototyping and preliminary experimentation

Steven D Johnson Professor Indiana University School of Informatics Lindley Hall Rm 215 Bloomington, IN Embedded & Real-Time Systems Lab Contact Information System Design Methods Lab