DOCSLIB.ORG

Survey of Robot Programming Languages

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Survey of Robot Programming Languages Survey of Robot Programming Languages Seminar Report Submitted in partial fulfilment of the requirements for the degree of Master of Technology by Anirban Basumallik Roll No : 09305008 under the guidance of Prof. Kavi Arya Department of Computer Science and Engineering Indian Institute of Technology, Bombay April 2010 Abstract At the present moment the field of Robotics is extremely varied. The nature of tasks that robots can perform are very distributed and hence controlling or programming different robots need different methods. Many vendors have tried to provide a common platform by abstracting out the differences. In this report we carry out a survey of the different Robot Programming Languages available in the market and assess their pros and cons. Finally, we come up with the needs of a desirable robotics platform that can ease the task of programmers in programming a class of robots more succinctly and effectively. 1 CONTENTS CONTENTS Contents 1 Introduction 3 1.1 Robot Programming Platform . 3 1.2 Need for a Platform . 3 2 Microsoft Robotics Developer Studio 3 2.1 DSS . 4 2.2 CCR . 5 2.3 VPL . 6 2.4 VSE . 7 2.5 Others . 8 2.6 Pros, Cons and buzz . 8 3 Player/Stage 9 3.1 Player Goals and Design . 9 3.2 Stage simulation environment . 10 3.3 Working . 11 3.4 Pros, Cons and buzz . 12 4 URBI 12 4.1 Design philosophy . 12 4.2 URBI Technology . 13 4.3 Pros, Cons and buzz . 14 5 OROCOS 15 5.1 Design philosophy . 15 5.2 Pros, Cons and buzz . 15 6 Comparative Study 16 7 General Requirements of a Platform 17 8 Conclusion 18 References 19 Appendices 20 A MSRDS Example 20 B Player/Stage Example 28 2 2 MICROSOFT ROBOTICS DEVELOPER STUDIO 1 Introduction This report primarily studies two major robot programming platforms. The first is Microsoft Robotics Developer Studio and the other one is the Player/Stage/Gazebo platform. Their general architecture, popularity in the industry, advantages and disadvantages have been closely studied. There is a brief report on two other platforms, namely, ORoCoS and URBI, which are promising and upcoming platforms. We then attempt to outline the qualities of a desirable robot programming language and suggest how we might go about building it. 1.1 Robot Programming Platform What we mean by a Robot Programming Platform is:- • Uniform programming syntax and commands • Large support for hardware • Abstraction from differences in hardware • Availability of libraries for basic and common robotic tasks like joint control, image pro- cessing, and navigation. Apart from these, the facilities for debugging through simulation and re-usability of compo- nents should be also available. 1.2 Need for a Platform The need for a Robot Programming Platform arises from the fact that a lot of money needs to be invested in the software part of a Robotics project. Statistically [10], 80% of a project cost goes into software development. The main aim of a Robot Programming Platform is to reduce the project cost by reducing the software development cost. Rather the cost can be redirected to software development in the domain of algorithms and Artificial Intelligence. Having understood the basic needs behind a robotic platform let us now move into studying our first case study, Microsoft Robotics Developer Studio. 2 Microsoft Robotics Developer Studio Microsoft launched their own Robotic programming platform, Microsoft Robotics Developer Studio (alias MSRDS) which can address a lot of the issues prevalent in the robotics industry. Powered by the strength of the C# programming language and the rich .NET framework, the MSRDS is a good platform for users. With a well laid out architecture, separate co-ordination library, and user-friendly GUI and simulation support, it makes this product quite a complete package on its own. MSRDS comprises of the following:- • DSS: Decentralised Software Services • CCR: Concurrency and Co-ordination Runtime • VPL: Visual Programming Language • VSE: Visual Simulation Environment 3 2.1 DSS 2 MICROSOFT ROBOTICS DEVELOPER STUDIO Figure 1: MSRDS in action of Appendix A It has also got other features which ensure security of data, generation of log messages and detailed research diagnostics. Let us have a look at them one by one. 2.1 DSS DSS [5] stands for Decentralised Software Services. It is a lightweight runtime environment that sits on top of the CCR. It is a state-oriented service model that helps in developing scalable and high performance applications by integrating features like, isolation of services, composition of services, event driven notifications, message passing, and structured state modifications. It combines the notion of REpresentational State Transfer (REST) and Decentralised Software Services Protocol (DSSP) alongwith HTTP as the basis of interaction amongst services. DSSP is a Simple Object Access Protocol (SOAP) based protocol which provides a clean state transfer model which can manipulate states and an event model driven by state changes. DSS [5] provides robustness by providing advanced error-handling features. Partial failures in sub-part of a system can lead to a complete halting of the whole system. Two types of isolation is needed for a robust system. Data needs to be isolated, as corrupted data can corrupt a service and execution isolation is needed, as one service depending on another service for execution may become unresponsive. A robust system always demands loosely coupled components. Such a system has additional demands of identifying, locating, synchronising, and composing them into one runnable unit. Unlike traditional systems which run as a single unit, DSS provides arrangements for creating, managing, and deploying loosely coupled systems. It has definitions of dependency of services which are verified at the initiation of the service. Having so many individual components running in parallel just adds to the problem of debugging. Locating the source of errors becomes a challenging task. Thus, the notion of observability has been integrated into the core of DSS by assigning a unique identifier for each service and observing the state changes that each service goes through as a part of its internal execution as well as external interaction. 4 2.2 CCR 2 MICROSOFT ROBOTICS DEVELOPER STUDIO Figure 2: A Service Module[5] Service A service [6] is the basic building block of DSS. A service is an abstraction over computation, it is a logical module. An entity or service has the following:- • Service Identifier: Unique identifiers for locating an instance of a service. They are just identifiers and does not convey information about context or nature. • Contract Identifier: These are condensed descriptions of implementations describing the behaviour. These are used to generate proxy dlls to which other services link against rather than directly linking to them. • State: The state represents the internal states/current status of the service. • Partners: The system maintains a list of partners who are dependent on the service or on whom the service depends for its proper functioning. • Handlers: They handle the subscriptions and takes actions on an event occurring. • Main Port: The main port is the central pipe of communication with all external entities. It is a CCR Port. Partnering of Services Services declare each other as partners to work together. Partnering terms also exists which define the extent to which one partner can interact with the other. The following operations are available to interact with one another:- • Create Services • Query Services • Manipulate services • Subscribe to services • Terminate Services 2.2 CCR CCR [4] stands for Concurrency and Coordination Runtime. It addresses the need to manage asynchronous operations, deal with concurrency, exploit parallelism and deal with partial failure. It encourages the design of loosely coupled components which can be developed independently and make minimal assumptions about other components in the runtime. This approach changes 5 2.3 VPL 2 MICROSOFT ROBOTICS DEVELOPER STUDIO how the user thinks of a program from the the designing process, dealing with concurrency, failure and isolation in a consistent way. Applications which use CCR needs to coordinate through messages, deal with complex failure scenarios, or in other words has to deal with asynchronous programming. This model is also very similar to how heterogeneous hardware and network is built. It is operative in a way such that the whole system is responsive, scalable and efficient in dealing with failure. Some of the major features to mention about it are:- • It is basically a dll, accessible from any language targeting the .NET Common Language Runtime (CLR). • It has a data dependent schedule. • It abstracts out the need to create threads or use semaphores. • It acts as the glue between the runtime and the services. • It takes care of load balancing, scheduling and coordinating. Communication All the services interact through protocols and by exchanging messages. Network protocols are centered around http at the application layer and tcp in the network layer. The network protocols are e-secure. The system is also capable of communicating with enterprise web service architectures. The communication port maintains two different queues. One is for the data and the other is for the list of recipients. High level structures like Arbiter makes complicated queue logic look very simple. Messages The messages exchanged are human readable, serialized into XML over the network. The content of the messages directly correspond to the impact of the message. They are of the following types: modification, query, get, drop. As a matter of statistics, which gives an idea about the efficiency of the system, on an Intel Dual Core, 3.0 GHz machine, 50,000 messages could be exchanged per second and about 3,000 messages per second could be exchanged over distant machines. 2.3 VPL VPL [8] stands for Visual Programming Language. As the name suggests, it is a GUI based programming logic system.
Load more

Recommended publications
  • GNU/Linux AI & Alife HOWTO
    GNU/Linux AI & Alife HOWTO GNU/Linux AI & Alife HOWTO Table of Contents GNU/Linux AI & Alife HOWTO......................................................................................................................1 by John Eikenberry..................................................................................................................................1 1. Introduction..........................................................................................................................................1 2. Symbolic Systems (GOFAI)................................................................................................................1 3. Connectionism.....................................................................................................................................1 4. Evolutionary Computing......................................................................................................................1 5. Alife & Complex Systems...................................................................................................................1 6. Agents & Robotics...............................................................................................................................1 7. Statistical & Machine Learning...........................................................................................................2 8. Missing & Dead...................................................................................................................................2 1. Introduction.........................................................................................................................................2
    [Show full text]
  • Architecture of a Software System for Robotics Control
    Architecture of a software system for robotics control Aleksey V. Shevchenko Oksana S. Mezentseva Information Systems Technologies Dept. Information Systems Technologies Dept. Stavropol City, NCFU Stavropol City, NCFU [email protected] [email protected] Dmitriy V. Mezentsev Konstantin Y. Ganshin Information Systems Technologies Dept. Information Systems Technologies Dept. Stavropol City, NCFU Stavropol City, NCFU [email protected] [email protected] Abstract This paper describes the architecture and features of RoboStudio, a software system for robotics control that allows complete and simulta- neous monitoring of all electronic components of a robotic system. This increases the safety of operating expensive equipment and allows for flexible configuration of different robotics components without changes to the source code. 1 Introduction Today, there are no clear standards for robotics programming. Each manufacturer creates their own software and hardware architecture based on their own ideas for optimizing the development process. Large manufacturers often buy their software systems from third parties, while small ones create theirs independently. As a result, the software often targets a specific platform (more often, a specific modification of a given platform). Thus, even minor upgrades of an existing robotic system often require a complete software rewrite. The lack of universal software products imposes large time and resource costs on developers, and often leads to the curtailment of promising projects. Some developers of robotic systems software partially solve the problem of universal software using the free Robotics Operation System (ROS), which also has limitations and is not always able to satisfy all the requirements of the manufacturers. 2 Equipment The research was conducted using two robots produced by the SPA "Android Technics" the "Mechatronics" stand and the full-size anthropomorphic robot AR-601E (figure 1).
    [Show full text]
  • Improvements in the Native Development Environment for Sony AIBO
    Special Issue on Improvements in Information Systems and Technologies Improvements in the native development environment for Sony AIBO Csaba Kertész Tampere University of Applied Sciences (TAMK), Research Department, Tampere, Finland Vincit Oy, Tampere, Finland installing a new bootloader. With these changes, i-Cybie can Abstract — The entertainment robotics have been on a peak be programmed in C under Windows and the sensors are with AIBO, but this robot brand has been discontinued by the accessible, but the SDK was abandoned in pre-alpha state with Sony in 2006 to help its financial position. Among other reasons, frequent freezes and almost no documentation. the robot failed to enter into both the mainstream and the robotics research labs besides the RoboCup competitions, A South Korean company (Dongbu Robot) sells a robot dog however, there were some attempts to use the robot for [3], which has a similar hardware configuration to AIBO, but rehabilitation and emotional medical treatments. A native Genibo does not have an open, low level software software development environment (Open-R SDK) was provided development environment, making impractical for researches. to program AIBO, nevertheless, the operating system (Aperios) Currently, there is no such an advanced and highly induced difficulties for the students and the researchers in the sophisticated quadruped system on the market like AIBO. If software development. The author of this paper made efforts to update the Open-R and overcome the problems. More the shortcomings of the software environment can be fixed, the enhancements have been implemented in the core components, robot can be used for upcoming research topics.
    [Show full text]
  • Robotstadium: Online Humanoid Robot Soccer Simulation Competition
    RobotStadium: Online Humanoid Robot Soccer Simulation Competition Olivier Michel1,YvanBourquin1, and Jean-Christophe Baillie2 1 Cyberbotics Ltd., PSE C - EPFL, 1015 Lausanne, Switzerland [email protected], [email protected] http://www.cyberbotics.com 2 Gostai SAS, 15 rue Vergniaud 75013 Paris, France [email protected] http://www.gostai.com Abstract. This paper describes robotstadium: an online simulation con- test based on the new RoboCup Nao Standard League. The simulation features two teams with four Nao robots each team, a ball and a soccer field corresponding the specifications of the real setup used for the new RoboCup Standard League using the Nao robot. Participation to the contest is free of charge and open to anyone. Competitors can simply register on the web site and download a free software package to start programming their team of soccer-playing Nao robots. This package is based on the Webots simulation software, the URBI middleware and the Java programming language. Once they have programmed their team of robots, competitors can upload their program on the web site and see how their team behaves in the competition. Matches are run every day and the ranking is updated accordingly in the ”hall of fame”. New simulation movies are made available on a daily basis so that anyone can watch them and enjoy the competition on the web. The contest is running online for a given period of time after which the best ranked competitors will be selected for a on-site final during the next RoboCup event. This contest is sponsored by The RoboCup federation, Aldebaran Robotics, Cyberbotics and Gostai.
    [Show full text]
  • Software Architecture for an Exploration Robot Based on Urbi
    Software architecture for an exploration robot based on Urbi Jean-Christophe Baillie, Akim Demaille, Guillaume Duceux, David Filliat, Quentin Hocquet, Matthieu Nottale To cite this version: Jean-Christophe Baillie, Akim Demaille, Guillaume Duceux, David Filliat, Quentin Hocquet, et al.. Software architecture for an exploration robot based on Urbi. 6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 12 p. inria- 00599674 HAL Id: inria-00599674 https://hal.inria.fr/inria-00599674 Submitted on 10 Jun 2011 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Software architecture for an exploration robot based on Urbi Jean-Christophe Baillie1 Akim Demaille1 Guillaume Duceux1,2 David Filliat2 Quentin Hocquet1 Matthieu Nottale1 1Gostai S.A.S., 15 rue Jean-Baptiste Berlier, 75013 Paris. 2ENSTA ParisTech, Unit´e Electronique´ et Informatique, 32 boulevard Victor,75739 Paris Cedex 15. May 10, 2011 Abstract We present the software architecture of a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information. This robot was developed under the Panoramic and Active Camera for Ob- ject Mapping (PACOM) project whose goal is to participate in the French exploration and mapping contest CAROTTE.
    [Show full text]
  • Nao®, the Ideal Partner for Research and Education
    ACADEMICS EDITION NAO®, THE IDEAL PARTNER FOR RESEARCH Fully programmable AND EDUCATION IN THE FIELD OF ROBOTICS Multiple sensors Onboard computer Remote control Friendly design and lightweight Nao Academics Edition key features - 25 Degrees of Freedom - Two prehensile hands - x86 AMD Geode 500 Mhz CPU - 256 MB SDRAM / 2 GB Flash memory - Wi-Fi 802.11b and ethernet port - 2x 30 FPS CMOS videocam res. 640x480 - Vision processing capacities - Two loudspeakers and English vocal synthesis - Supports multiple programming environments Comes with software and complete documentation After 3 years of research, Aldebaran RoboticsTM has developed Nao® a 58 cm (23’’) tall biped robot. It’s a unique combination of hardware and software in a great design. Nao stands tall in all points amongst its robotic brethren. The hardware has been built from the ground up with the latest technologies providing great fluidity in its movements and offering a wide range of sensors. Platform agnostic, it can be programmed and controlled using Linux, Windows or Mac OS and comes with complete software and documentation. All-in-one MOVEMENT humanoid Nao comes with 25 degrees of freedom for great mobility. The inertial sensor provides great stability while moving and enables positioning within space. Sonars and FSRs allow Nao to detect its environment and to navigate seamlessly. robot His state-of-the-art onboard actuators give Nao extreme precision in its movements. INTERACTION Nao features embedded software modules allowing text to speech, sound localization, visual pattern and coloured shape detection, obstacle detection (based on the two channel sonar system) and visual effects or communication through the many LEDs.
    [Show full text]
  • Simple Concurrency for Robotics with the Roboscoop Framework
    Simple Concurrency for Robotics with the Roboscoop Framework Andrey Rusakov Jiwon Shin Bertrand Meyer Chair of Software Engineering Department of Computer Science ETH Zurich,¨ Switzerland fandrey.rusakov, jiwon.shin, [email protected] Abstract— Concurrency is inherent to robots, and using enables even novice programmers to program concurrent concurrency in robotics can greatly enhance performance of the robotic software. Current Roboscoop contains behaviors and robotics applications. So far, however, the use of concurrency in tools necessary for the operation of differential drive robots robotics has been limited and cumbersome. This paper presents Roboscoop, a new robotics framework based on Simple Concur- and has been tested on two different robots. rent Object Oriented Programming (SCOOP). SCOOP excludes This paper is organized as follows: After presenting related data races by construction, thereby eliminating a major class of work in Section II, the paper presents the core of Roboscoop concurrent programming errors. Roboscoop utilizes SCOOP’s framework in Section III. Section IV presents an example of concurrency and synchronization mechanisms for coordination using Roboscoop for the task of exploring an unknown area. in robotics applications. We demonstrate Roboscoop’s simplicity by comparing Roboscoop to existing middlewares and evaluate Section V compares Roboscoop against other middlewares Roboscoop’s usability by employing it in education. and also presents an evaluation of Roboscoop in education. The paper concludes with final remarks in Section VI. I. INTRODUCTION Advanced robotic systems are composed of many com- II. RELATED WORK ponents that can operate concurrently. Running these com- In the last decade, many middlewares have been pro- ponents concurrently would enable robots to meet their full posed to ease the development of robotic coordination and potential.
    [Show full text]
  • 27Th Daaam International Symposium on Intelligent Manufacturing and Automation
    27TH DAAAM INTERNATIONAL SYMPOSIUM ON INTELLIGENT MANUFACTURING AND AUTOMATION DOI: 10.2507/27th.daaam.proceedings.016 PROGRAMMING OF ROBOT SYNERGISM IN MULTI-AGENT SIMULATORS Valentin Pryanichnikov, Denis Davydov, Kirill Kirsanov & Stanislav Eprikov This Publication has to be referred as: Pryanichnikov, V[alentin] E[.]; Davydov, D[enis]; Kirsanov, K[irill] & Eprikov, S[tanislav] (2016). Programming of Robot Synergism in Multi-Agent Simulators, Proceedings of the 27th DAAAM International Symposium, pp.0109-0115, B. Katalinic (Ed.), Published by DAAAM International, ISBN 978-3-902734- 08-2, ISSN 1726-9679, Vienna, Austria DOI: 10.2507/27th.daaam.proceedings.016 Abstract This article reviews the problem of building software systems for control of distributed hardware sets of mechatronic systems, mobile robots and their virtual models. For this purpose, application-dependent software (“middleware”) was built, which allows performing operations on asynchronous data buses with correct network input/output of various controlled devices along with combination of work of real robots and their virtual images. One of the well-known approaches to building adequate mathematic models of mobile robots is the use of V-REP robotic simulator, its abilities for creating new solid models out of the known components and modules. However, such an approach allows us to solve the design problem of separately functioning robotic systems. This study describes an approach to create a distributed robotic simulator, which allows programming the control of mobile service robots by generating the so-called “synergism” – generic templates of more elementary (or previously constructed) actions. Keywords: mobile service robots with distributed control; robotic simulator; simulated environment; V-REP. 1.
    [Show full text]
  • URBI Tutorial for Urbi 1.0 (Book Compiled from Revision 245M)
    URBI Tutorial for Urbi 1.0 (book compiled from Revision 245M) Jean-Christophe Baillie Mathieu Nottale Benoit Pothier URBI Tutorial for Urbi 1.0: (book compiled from Revision 245M) by Jean-Christophe Baillie, Mathieu Nottale, and Benoit Pothier Published Copyright © 2006-2007 Gostai™ This document is released under the Attribution-NonCommercial-NoDerivs 2.0 Creative Commons licence (http://creativecommons.org/licenses/ by-nc-nd/2.0/deed.en). Table of Contents 1. Introduction ................................................................................................................................... 1 2. Installing URBI .............................................................................................................................. 2 Installing the memorystick for Aibo ............................................................................................... 2 3. First moves .................................................................................................................................... 5 Setting and reading a motor value ................................................................................................. 5 Setting speed, time or sinusoidal movements ................................................................................... 6 Discovering variables .................................................................................................................. 6 General structure for variables .............................................................................................
    [Show full text]
  • Events!(Reactivity in Urbiscript)
    Events! (Reactivity in urbiscript) Jean-Christophe Baillie Akim Demaille Quentin Hocquet Matthieu Nottale Gostai S.A.S., 15, rue Jean-Baptiste Berlier, F-75013 Paris, France http://www.gostai.com, [email protected] Abstract— Urbi SDK is a software platform for the devel- availability of compilers for many different types of hardware opment of portable robotic applications. It features the Urbi architecture, and because many robot SDK are in C/C++. UObject C++ middleware, to manage hardware drivers and/or It also provides access to very low-level system features possibly remote software components, and urbiscript, a domain specific programming language to orchestrate them. Reactivity (such as coroutines, see below), and allows us to program is a key feature of Urbi SDK, embodied in events in urbiscript. their support if they lack, in assembler if needed. Specific This paper presents the support for events in urbiscript. features of some architectures are also easier to use from Event-based programming is the “native” way in urbiscript C/C++, such as the real-time features of Xenomai. Finally, to program responses to stimuli — a common need in some architecture require C++, such the Aibo SDK. robotics. It is typically used for “background jobs that moni- While the sole Urbi core suffices in many situations, it tor some conditions”. It is used to program the human-robot proved useful to provide a programming language to fine- interfaces (“do this when the head button is pushed”), the tune this orchestration. detection exceptional situations (collision avoidance, battery level), the tracking of objects of interest etc.
    [Show full text]
  • Software Architecture of Control System for Heterogeneous Group of Mobile Robots
    Available online at www.sciencedirect.com ScienceDirect Procedia Engineering 100 ( 2015 ) 278 – 282 25th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAAM 2014 Software Architecture of Control System for Heterogeneous Group of Mobile Robots Kirsanov Kirill* International Institute of New Educational Technologies, RSUH, Miusskaya sq. 6, Moscow, 125993, Russia Abstract This article describes the software architecture, which can significantly reduce development time, provide an effective process of data exchange and control of mobile robots (or a group of mobile robots). This architecture is based on representation of a mobile robot as the composition of mechatronic devices connected in a hierarchical graph of software interactions (also known as middleware systems). This architecture provides high robustness, capacity and transmission frequency of control commands and data. Also, successful results have been achieved in providing dynamic reconfiguration of system components without stopping as well as automatic crash recovery (including complex interaction graphs) and auto-configuration. ©© 2015 201 5The The Authors. Authors. Published Published by Elsevier by Elsevier Ltd. This Ltd is. an open access article under the CC BY-NC-ND license (Peerhttp://creativecommons.org/licenses/by-nc-nd/4.0/-review under responsibility of DAAAM). International Vienna. Peer-review under responsibility of DAAAM International Vienna Keywords: Control system; mobile robotics; software architecture; software engineering; middleware 1. Introdution For denotation of this article describes the software architecture, which can significantly reduce development time, provide an effective process of data exchange and control of mobile robots (or a group of mobile robots). This architecture is based on representation of a mobile robot as the composition of mechatronic devices connected in a hierarchical graph of software interactions (also known as middleware systems).
    [Show full text]
  • Webots User Guide Release 6.4.0
    Webots User Guide release 6.4.0 Copyright c 2011 Cyberbotics Ltd. All Rights Reserved www.cyberbotics.com May 18, 2011 2 Permission to use, copy and distribute this documentation for any purpose and without fee is hereby granted in perpetuity, provided that no modifications are performed on this documenta- tion. The copyright holder makes no warranty or condition, either expressed or implied, including but not limited to any implied warranties of merchantability and fitness for a particular purpose, regarding this manual and the associated software. This manual is provided on an as-is basis. Neither the copyright holder nor any applicable licensor will be liable for any incidental or con- sequential damages. The Webots software was initially developed at the Laboratoire de Micro-Informatique (LAMI) of the Swiss Federal Institute of Technology, Lausanne, Switzerland (EPFL). The EPFL makes no warranties of any kind on this software. In no event shall the EPFL be liable for incidental or consequential damages of any kind in connection with the use and exploitation of this software. Trademark information AiboTMis a registered trademark of SONY Corp. RadeonTMis a registered trademark of ATI Technologies Inc. GeForceTMis a registered trademark of nVidia, Corp. JavaTMis a registered trademark of Sun MicroSystems, Inc. KheperaTMand KoalaTMare registered trademarks of K-Team S.A. LinuxTMis a registered trademark of Linus Torvalds. Mac OS XTMis a registered trademark of Apple Inc. MindstormsTMand LEGOTMare registered trademarks of the LEGO group. IPRTMis a registered trademark of Neuronics AG. UbuntuTMis a registered trademark of Canonical Ltd. Visual C++TM, WindowsTM, Windows 98TM, Windows METM, Windows NTTM, Windows 2000TM, Windows XPTMand Windows VistaTMWindows 7TMare registered trademarks of Microsoft Corp.
    [Show full text]