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Trans-Atlantic Robots
An anonymous reader writes "In the summer of 2008, teams from a host of countries will compete in The Microtransat Challenge with the hope of gaining the honor of having built the first autonomous sailboat to cross the Atlantic. The results of Microtransat 2007, a smaller scale preliminary race, were recently announced. The winner was the team from Austria; team RoBoat, for having completed 24 hours of autonomous sailing. I am strongly considering joining this competition before the year is out, and would appreciate any insight from the Slashdot community. The boats can be up to 4 meters in length, and therefore capable of carrying a full-sized onboard computer (operating system of your choice). Time is limited however, so I would like to avoid as many hardware issues as possible and get straight to the difficult problem of writing the AI. So how would you design a seamless interface between sensors and actuators to the high-level code?"
http://www.urbiforge.com/ "URBI is a Universal Real-time Behavior Interface and gives you a simple but powerful way to control any robot or complex system like a video game, using a convenient and easy to use scripting language that can be interfaced with several popular programming languages (C++, Java, Matlab,...) and OS (Windows, Mac OSX, Linux). URBI is based on a client/server architecture, which give a great deal of flexibility. URBI includes powerful features compared to existing scripting solutions: parallel execution of commands, event programming, command tagging, dynamic variables,... Currently, URBI is used as well by academic research labs, the industry and by hobbyists."
Our team(SONIA) is working on autonomous underwater vehicles and we are using Linux with Java for the AI part. For communication with actuators, we use the CAN bus, which is fairly common in the industrial automation and automotive fields.
There are CAN bus adapters that plug into serial or USB ports and there is Linux support for these. We're using one from Vector.
As for hardware, we use the Kontron JREX SBC with JFlex I/O boards to add the I/O ports we need(firewire and serial, mostly). Of course, if you're not cramped for space, you might go with something a bit larger.
I hope this helps, feel free to ask more questions.
Jean-Francois Im's blog
Having worked on development on robotic telescopes, both hardware and software, let me tell you that using Linux was not an easy choice. We had to narrow our search to vendors who explicitly support Linux, and even there, their support was flaky at best and we spent hours in troubleshooting the drivers before we got them to work. However, this exercise resulted in better support for Linux from the vendor, so it's a win-win situation. We opted for National Instruments for their excellent DAQ boards & LabView which are all supported under Linux.
For the control system, we used INDI, it's a powerful server/client control protocol that you can use to jump start your project within minutes. While it is geared toward astronomy, it can be used for any purpose.