|
|
Smarter control in robotics & automation!
“ Orocos” is the acronym of the Open Robot Control Software project. The project’s aim is to develop a general-purpose, free software, and modular framework for robot and machine control. The Orocos project supports 4 C++ libraries: the Real-Time Toolkit, the Kinematics and Dynamics Library, the Bayesian Filtering Library and the Orocos Component Library. 
- The Orocos Real-Time Toolkit (RTT) is not an application in itself, but it provides the infrastructure and the functionalities to build robotics applications in C++. The emphasis is on real-time, on-line interactive and component based applications.
- The Orocos Components Library (OCL) provides some ready to use control components. Both Component management and Components for control and hardware access are available.
- The Orocos Kinematics and Dynamics Library (KDL) is a C++ library which allows to calculate kinematic chains in real-time.
- The Orocos Bayesian Filtering Library (BFL) provides an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes’ rule, such as (Extended) Kalman Filters, Particle Filters (Sequential Monte methods), etc.
Orocos is a free software project, hence its code and documentation are released under Free Software licenses.
Physics libraries such as ODE provide excellent real-time simulation, embedding them in a 3D application to create a virtual reality is far from trivial. It is often prohibitively difficult to create a simulated reality that incorporates complex dynamic objects that interact with each other and the environment under physics’ constraints.
One of the major obstacles is mapping between meshes and objects supported by the physics engine.—This is what EZPhysics aims to solve.
EZPhysics API is licensed under the GNU Lesser Public License (LGPL).
The system is composed of two parts:
- Editor & Simulator—Lets you interactively embed objects supported by the physics engine into 3D meshes, attach joints and constraints to the physics objects, save the “physically rigged” scenes into files, and run simulations.
- API—Lets you embed the “physically rigged” meshes into your application. This involves using classes and methods for reading the editor files and manipulating the physical aspects of the objects, such as applying torques and forces to joints.
 
- Linux is a free Unix-like operating system that runs on a variety of platforms, including PCs. Numerous Linux distributions such as Red Hat, Debian and Mandrake bundle the Linux OS with tools, productivity software, games, etc.
- The Linux scheduler, like that of other OSes such as Windows or MacOS, is designed for best average response, so it feels fast and interactive even when running many programs.
- However, it doesn’t guarantee that any particular task will always run by a given deadline. A task may be suspended for an arbitrarily long time, for example while a Linux device driver services a disk interrupt.
- Scheduling guarantees are offered by real-time operating systems (RTOSes), such as QNX, LynxOS or VxWorks. RTOSes are typically used for control or communications applications, not general purpose computing.
- Linux has been adapted for real-time support. These adaptations are termed “Real-Time Linux” (RT Linux).
- Numerous versions of RT Linux are available, free or commercial. Two commonly available free RT Linux versions are
- the Real-Time Application Interface (RTAI), developed by the Milan Polytechnical University and available at www.aero.polimi.it/~rtai/
- RTL, developed by New Mexico Tech and now maintained by FSM Labs, Inc., with a free version available at www.rtlinux.org.
- These RT Linux systems are patches to the basic Linux kernel source code. Instructions for building an RT Linux system from a the Linux source code are provided with these RT Linux systems. Briefly the process involves setting up the basic Linux system, getting the latest Linux kernel source code from www.kernel.org, patching the kernel source code, and compiling the patched kernel. More information on RT Linux in general is provided in [AEO].
- See www.isd.mel.nist.gov/projects/rtlinux for more information.
The turorial is here
Real Time Linux Foundation, Inc.
A non-profit corporation for the real-time Linux community
Goals
- to serve as an entry point for newcomers to the real time Linux community;
- to bring together all interested parties in open discussion on implementation and standardization;
- to provide good documentation on existing implementations, solutions and projects;
- to identify companies providing real time Linux services and solutions;
- to create a positive feedback loop between real time Linux developers, users, industry and academia for promoting fast development;
- to make real time Linux the number one choice for real time operating systems and help to make open source enter the embedded and real time marketplace.
The Open Source Automation Development Lab aims to promote and support the development of Open Source software for the automation industry. OSADL is an international cooperative registered in Germany and accepts member companies from all over the world. In addition, universities and other research institutions may become academic OSADL members.
Among others, OSADL acts as a “purchase community”: The membership fees are used to delegate the development of Open Source software projects the majority of members has requested or at least agreed to. Current projects are focused on Realtime and Safety Critical Linux, on Board Support Packages, on an RTDM compatibility layer, and many other topics relevant for the automation industry.
EMC is software that implements real-time control of equipment such as machine tools, robots, and coordinate measuring machines. It runs in realtime under Linux with the RTlinux or RTAI patch. It provides a software PLC, and uses the HAL for flexibility.
GNAT is a free-software compiler for the Ada programming language, part of the GNU Compiler Collection. It supports all versions (Ada 2005, Ada 95, Ada 83, etc). The front-end and run-time are written in Ada. JGNAT is a GNAT version that compiles from the Ada programming language to Java bytecode.
- General description
- Open source computer vision library in C/C++.
- Optimized and intended for real-time applications.
- OS/hardware/window-manager independent.
- Generic image/video loading, saving, and acquisition.
- Both low and high level API.
- Provides interface to Intel’s Integrated Performance Primitives (IPP) with processor specific optimization (Intel processors).
- Features:
- Image data manipulation (allocation, release, copying, setting, conversion).
- Image and video I/O (file and camera based input, image/video file output).
- Matrix and vector manipulation and linear algebra routines (products, solvers, eigenvalues, SVD).
- Various dynamic data structures (lists, queues, sets, trees, graphs).
- Basic image processing (filtering, edge detection, corner detection, sampling and interpolation, color conversion, morphological operations, histograms, image pyramids).
- Structural analysis (connected components, contour processing, distance transform, various moments, template matching, Hough transform, polygonal approximation, line fitting, ellipse fitting, Delaunay triangulation).
- Camera calibration (finding and tracking calibration patterns, calibration, fundamental matrix estimation, homography estimation, stereo correspondence).
- Motion analysis (optical flow, motion segmentation, tracking).
- Object recognition (eigen-methods, HMM).
- Basic GUI (display image/video, keyboard and mouse handling, scroll-bars).
- Image labeling (line, conic, polygon, text drawing)
|
|
Loading ...
