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Title: Sandia Modular Architecture for Robotics and Teleoperation

Abstract

SMART 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 Tcl/Tk 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.

Authors:
Publication Date:
Research Org.:
Sandia National Laboratories
Sponsoring Org.:
DOE/DP
OSTI Identifier:
1230625
Report Number(s):
SMART VER0.8 BETA; 000794MLTPL00
DOE Contract Number:  
AC04-76DP00789
Resource Type:
Software
Software Revision:
00
Software Package Number:
000794
Software Package Contents:
Software Abstract; Installation Instructions; User's Manual; Media Includes Media Directory, Source Code, Object Library, Executable Module, Compilation Instructions, Sample Problem Input Data;\ 1 CD ROM
Software CPU:
MLTPL
Open Source:
No
Source Code Available:
Yes
Other Software Info:
See the Installation Instructions. SMART has been developed to run in a real-time VME system consisting of 680x0 processor boards (such as the Force computers FRC30 and FRC33) processors using Wind River System''s vx Works real-time operating system. The code has been designed to port to other processors running vxWorks, but has not been tested on such. A UNIX host is necessary for compilation and supervisory control for the system. For this we have used SUN Microsystems Sparc2 and Sparc 10 computers.
Related Software:
The real-time kernel requires an embedded operating system with POSIX thread support.
Country of Publication:
United States

Citation Formats

Anderson, Robert J. Sandia Modular Architecture for Robotics and Teleoperation. Computer software. Vers. 00. DOE/DP. 16 Jun. 1999. Web.
Anderson, Robert J. (1999, June 16). Sandia Modular Architecture for Robotics and Teleoperation (Version 00) [Computer software].
Anderson, Robert J. Sandia Modular Architecture for Robotics and Teleoperation. Computer software. Version 00. June 16, 1999.
@misc{osti_1230625,
title = {Sandia Modular Architecture for Robotics and Teleoperation, Version 00},
author = {Anderson, Robert J.},
abstractNote = {SMART 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 Tcl/Tk 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.},
doi = {},
year = {1999},
month = {6},
note =
}

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