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Starting from a user point of view the paper discusses the requirements of a development environment (operating system and programming language) for mechatronic systems, especially mobile robots. We argue that user requirements from research, education, ergonomics and applications impose a certain functionality on the embedded operating system and programming language, and that a deadline-driven real-time operating system helps to fulfil these requirements. A case study of the operating system XO/2, its programming language Oberon-2 and the mobile robot Pygmalion is presented. XO/2 explicitly addresses issues like scalabilty, safety and abstraction, previously found to be relevant for many user scenarios.
Sandro Carrara, Ali Meimandi, Ata Jedari Golparvar, Sarah Tonello
Adrien Ghosn, Charly Nicolas Lucien Castes
Babak Falsafi, Alexandros Daglis, Eva Darulova, Mattia Cacciotti, Damien Zufferey, Sasa Misailovic