SMART (Sandia's Modular Architecture for Robotics and Teleoperation) Ver. 1.0

Software · Tue Dec 15 00:00:00 EST 2009

OSTI ID:1231272

Anderson, Robert

"SMART Ver. 0.8 Beta" provides a system developer with software tools to create a telerobotic control system, i.e., a system whereby an end-user can interact with mechatronic equipment. It consists of three main components: the SMART Editor (tsmed), the SMART Real-time kernel (rtos), and the SMART Supervisor (gui). The SMART Editor is a graphical icon-based code generation tool for creating end-user systems, given descriptions of SMART modules. The SMART real-time kernel implements behaviors that combine modules representing input devices, sensors, constraints, filters, and robotic devices. Included with this software release is a number of core modules, which can be combined with additional project and device specific modules to create a telerobotic controller. The SMART Supervisor is a graphical front-end for running a SMART system. It is an optional component of the SMART Environment and utilizes the TeVTk windowing and scripting environment. Although the code contained within this release is complete, and can be utilized for defining, running, and interfacing to a sample end-user SMART system, most systems will include additional project and hardware specific modules developed either by the system developer or obtained independently from a SMART module developer. SMART is a software system designed to integrate the different robots, input devices, sensors and dynamic elements required for advanced modes of telerobotic control. "SMART Ver. 0.8 Beta" defines and implements a telerobotic controller. A telerobotic system consists of combinations of modules that implement behaviors. Each real-time module represents an input device, robot device, sensor, constraint, connection or filter. The underlying theory utilizes non-linear discretized multidimensional network elements to model each individual module, and guarantees that upon a valid connection, the resulting system will perform in a stable fashion. Different combinations of modules implement different behaviors. Each module must have at a minimum an initialization routine, a parameter adjustment routine, and an update routine. The SMART runtime kernel runs continuously within a real-time embedded system. Each module is first set-up by the kernel, initialized, and then updated at a fixed rate whenever it is in context. The kernel responds to operator directed commands by changing the state of the system, changing parameters on individual modules, and switching behavioral modes. The SMART Editor is a tool used to define, verify, configure and generate source code for a SMART control system. It uses icon representations of the modules, code patches from valid configurations of the modules, and configuration files describing how a module can be connected into a system to lead the end-user in through the steps needed to create a final system. The SMART Supervisor serves as an interface to a SMART run-time system. It provides an interface on a host computer that connects to the embedded system via TCPIIP ASCII commands. It utilizes a scripting language (Tel) and a graphics windowing environment (Tk). This system can either be customized to fit an end-user's needs or completely replaced as needed.

• Short Name / Acronym: SMART; 000794MLTPL01
• Version: 01
• Programming Language(s): Medium: X; OS: Linux, Windows, QNX and VX Works
• Research Organization: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: DE-AC04-94AL85000
• OSTI ID: 1231272
• Country of Origin: United States