1. response actuatorcontrol program analog quantity, e.g. pulse train digital quantity, e.g. power % interface stimuli sensorcontrol program analog quantity, e.g. light digital quantity, e.g. light % interface Sequential and Reactive Strategies sensor spaceactuator space

4. Sequential Strategy

13. Reactive Strategy

16. sensors actuators Real time operating system Processes/threads

17. actuators Real time operating system Arbitration Touch Turn Wander

18. Embedded Java The leJOS API classes provide real time events, sensor events and threads: TimerListener SensorListener Thread Timer

27. a simple round robin 2ms time slice for threads of equal priority...

28. RunnableNon-Runnable suspend() resume() yield() Running dispatch suspend() start() stop(), or run() returns sleep() Alive

31. Line following

33. A PID Controller For Lego Mindstorms Robots