Michele Moro

Performance Comparison of VxWorks, Linux, RTAI and Xenomai in a Hard Real-time Application

We report on a set of performance measurements executed on VMEbus MVME5500 boards equipped with MPC7455 PowerPC processor, running four different operating systems: Wind River VxWorks, Linux, RTAI, and Xenomai. Some components of RTAI and Xenomai have been ported to the target architecture. Interrupt latency, rescheduling and inter-process communication times are compared in the framework of a sample real-time application. Performance measurements on Gigabit Ethernet network communication have also been carried out on the target boards. To this purpose, we have considered the Linux IP stack and RTnet, an open-source hard real-time network protocol stack for Xenomai and RTAI, which was ported to the considered architecture. Performance measurements show that the tested open-source software is suitable for hard real-time applications.

Performance Comparison of VxWorks, Linux, RTAI, and Xenomai in a Hard Real-Time Application

We report on a set of performance measurements executed on VMEbus MVME5500 boards equipped with MPC7455 PowerPC processor, running four different operating systems: Wind River VxWorks, Linux, RTAI, and Xenomai. Some components of RTAI and Xenomai have been ported to the target architecture. Interrupt latency, rescheduling and inter-process communication times are compared in the framework of a sample real-time application. Performance measurements on Gigabit Ethernet network communication have also been carried out on the target boards. To this purpose, we have considered the Linux IP stack and RTnet, an open-source hard real-time network protocol stack for Xenomai and RTAI, which was ported to the considered architecture. Performance measurements show that the tested open-source software is suitable for hard real-time applications.

Special issue on educational robotics

Research in Educational Robotics in recent years is a growing field which has revealed the great potential that robotics has to offer in science, technology, engineering, andmathematics (STEM) education at all levels from kindergarten to university. Although robotics has not still found the place it deserves in school curricula, a growing number of robotic actions and events take place in formal and informal education involving educators, researchers and students. At the same time themarket offers a growingnumber of robots and platforms proposed for educational purposes, and this trend may continue over the coming decades. However, the benefits in learning are not guaranteed for learners just by the simple introduction of robots in the classroom; technology alone cannot affect minds; robots are just another tool and not the end point for improving learning; the role of the curriculum and the alignment of robotics technologywith relevant theories of learning (namely constructivism and constructionism) is the crucial factor that determines the learning results. Despite the remarkable progress made in recent years, several issues are still open in the research and practice of educational robotics:

Why teach robotics using ROS

This paper focuses on the key role played by the adoption of a framework in teaching robotics with a computer science approach in the master in Computer Engineering. The framework adopted is the Robot Operating System (ROS), which is becoming a standard de facto inside the robotics community. The educational activities proposed in this paper are based on a constructionist approach. The Mindstorms NXT robot kit is adopted to trigger the learning challenge. The ROS framework is exploited to drive the students programming methodology during the laboratory activities and to allow students to exercise with the major computer programming paradigms and the best programming practices. The major robotics topics students are involved with are: acquiring data from sensors, connecting sensors to the robot, and navigate the robot to reach the final goal. The positive effects given by this approach are highlighted in this paper by comparing the work recently produced by students with the work produced in the previous years in which ROS was not yet adopted and many different software tools and languages were used. The results of a questionnaire are reported showing that we achieved the didactical objectives we expected as instructors.

A Workshop to Promote Arduino-Based Robots as Wide Spectrum Learning Support Tools

This paper discusses the design of a workshop in Educational Robotics based on Arduino offered to fifty different classes in Italian schools, from primary school to high school. We provided different examples with two robotic platforms. We present some observations about the current conception of Educational Robotics among teachers and students and about the related problems in its introduction in schools. The paper includes a description of the proposed activities and a preliminary evaluation of the results.

A PBL approach using virtual and real robots (with BYOB and LEGO NXT) to teaching learning key competences and standard curricula in primary level

In this paper, we describe the experiences we have been carrying out the last 12 months using educational robotics in classroom at primary level. We use a constructivist Problem Based Learning approach in order to use robotics to teach learn key competences and standard curricula. We have introduced the possibility of working with virtual robots (using BYOB, http://byob.berkeley.edu/) as well as with LEGO NXT. For that we have designed different projects that can be worked with both platforms. We have used all this materials and methodology for primary teachers training. To apply such training we have implemented a course with 2 stages, the first one we train the teachers, and at the second stage the teachers apply the acquired knowledge with the students. The results (that are still under analysis and evaluation) are promising, as we have managed to have both a network of schools and a significant group of persons working in a coordinated way. The Educational authorities support our work and we have established also a link between the university, the schools and the Planetario of Pamplona, in order to work as well in the school and out of the school (Planetario is also our Science and tech Museum).

The RoboESL Project: Development, Evaluation and Outcomes Regarding the Proposed Robotic Enhanced Curricula

Inthisarticle,theauthorssummarizethedevelopmentofthefirsthalfofcurriculadesignedforthe RoboESLproject.Theythengivesomemoredetailsaboutthesecondhalfofcurricula.Through development,theauthorsadoptedLEGOMindstormsEV3asaneducationalroboticplatform,the curriculacanbeadaptedtootherplatformsaftersomepossiblesimplifications.Havingaclearoverall perspectiveoftheproject,onesectionofthepaperisdevotedtoprovidingacomprehensiveanalysis andsomeremarksontheexpectedoutcomes. KEywORDS Early School Leaving, Educational Robotics, Mindstorms EV3, RoboESL, Teacher Training

Concepts, Design, and Development of a Multiplatform Framework for Real-Time Control in Nuclear Fusion

The paper discusses the requirements and presents an architectural overview of a new general-purpose framework for real-time control, currently under development at the RFX laboratory. This represents the third generation of control framework developed at RFX. It takes into account the experience gained in the development of the previous frameworks and exploits the evolution of computer technology, in particular, the evolution of Linux towards real-time functionality and the availability of multicore CPUs in most general-purpose computing boards. The framework will supervise data flow among the participating components, which may produce data, consume data, or apply some sort of computation. Some system components have been already developed, while the architecture of others is still being refined. In particular, we are going to integrate the infrastructure layer of the new framework with a real-time framework recently in use at JET. The aim of this collaboration is a general purpose real-time system which can be used on both experiments.

A Training Course in Educational Robotics for Learning Support Teachers

This paper discusses the new implementation of a strengthened introductory training course in Educational Robotics for pre-service and in-service learning support teachers. By means of a final written questionnaire we compare the results of the course in 2015 with this year course, when the number of hours were doubled. This year participants expressed a higher appreciation and a better attitude towards robotics. Teachers agreed on the conviction that robotics can enhance students’ motivation to learning and that educational robotics sustains a new point of view on science for teachers. Regarding the implementation in class, approximately two third of the participants declare they had already an idea on how to integrate robotics in curricula. More specifically, participants named ASD (Autism Spectrum Disorders), ADHD (Attention deficit hyperactivity disorder), learning disabilities, mild mental retardation as aspects that can be effectively addressed by ER.

A multiplatform framework for real-time control in nuclear fusion devices

The paper discusses the requirements and presents an architectural overview of a new general-purpose framework for real-time control, currently under development at the RFX laboratory. This represents the third generation of control framework developed at RFX. It takes into account the experience gained in the development of the previous frameworks and exploits the evolution of computer technology, in particular the evolution of Linux towards real-time functionality and the availability of multi-core CPUs in most general-purpose computing boards. The framework will supervise data flow among the participating components, which may produce data, consume data, or apply some sort of computation. The lessons learnt after five years of operation and maintenance of the real-time control system of RFX are first presented, outlining in particular which design choices proved successful and which would have required a different approach. The general requirements of a real-time system for fusion devices are then discussed in depth in order to justify the architectural choices presented afterwards. Some system components have been already developed, while the architecture of others is still being refined. In particular, we are going to integrate the infrastructure layer of the new framework with a real-time framework recently in use at JET. The aim of this collaboration is a general purpose real-time system which can be used on both experiments.