Advanced Robot Control System 4.1
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繧ｳ繝ｬ縺ｯ菴包ｼ�/What is this?

Linux縺ｨRTAI繧剃ｽｿ縺｣縺ｦ繝ｪ繧｢繝ｫ繧ｿ繧､繝�遨ｺ髢謎ｸ翫〒繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ繧貞宛蠕｡縺ｧ縺阪ｋ繧ｽ繝輔ヨ繧ｦ繧ｧ繧｢
CUI縺ｪ縺ｮ縺ｫ蜈磯�ｲ繧定ｬｳ縺�繝ｭ繝懊ャ繝亥宛蠕｡繧ｷ繧ｹ繝�繝�(ARCS 縺ゅ�ｼ縺上☆�ｼ�)
ARCS縺ｫ繧医▲縺ｦ蜀�貊代↓螳滄ｨ薙′騾ｲ繧√ｉ繧後ｋ繧医≧縺ｫ縺ｪ繧奇ｼ瑚ｫ匁枚邱�蛻�縺碁俣霑代↓霑ｫ繧玖ｲｴ譁ｹ縺ｮ蠑ｷ縺�蜻ｳ譁ｹ縺ｫ縺ｪ繧九〒縺励ｇ縺�
This software, which is called "Advanced Robot Control System" or "ARCS", controls actuators mounted on your robots by using Linux and RTAI realtime operating system.



逕ｻ髱｢/Screenshot

諡｡螟ｧ



繝�繧ｦ繝ｳ繝ｭ繝ｼ繝�/Download

繧ｽ繝ｼ繧ｹ繧ｳ繝ｼ繝我ｸ�蠑上�ｯ莉･荳九°繧峨ム繧ｦ繝ｳ繝ｭ繝ｼ繝峨〒縺阪∪縺吶��
You can download the source code of ARCS.

ARCS4.1-REV.20110721-A.zip

g++/gcc 縺ｧ蜍穂ｽ懃｢ｺ隱肴ｸ医∩縺ｧ縺吶�� RTAI縺ｮ莉悶↓�ｼ後ヵ繝ｬ繝ｼ繝�繝舌ャ繝輔ぃ�ｼ慶urses�ｼ稽ath遲峨��縺悟ｿ�隕√〒縺吶�� (莠区ュ縺ｫ繧医ｊ蜷�遞ｮ繧ｪ繝悶じ繝ｼ繝舌�ｮ繧ｽ繝ｼ繧ｹ縺ｯ髱槫�ｬ髢九〒縺�)
We confirmed that this source code was normally compiled and linked using g++/gcc. In order to use this program, you need frame buffer, curses, and math libraries. (For some reasons, we are not able to publish the source code of the observers.)



荳ｻ縺ｪ讖溯�ｽ/Functions

繝ｻ繝槭Ν繝√Μ繧｢繝ｫ繧ｿ繧､繝�繧ｹ繝ｬ繝�繝峨�ｮ逕滓�舌�ｻ蜻ｨ譛溷ｮ溯｡後�ｻ遐ｴ譽�
繝ｻ貂ｬ螳壹ョ繝ｼ繧ｿ縺ｮ蜃ｺ蜉�(CSV蠖｢蠑丞所縺ｳTAB蛹ｺ蛻�繧灰AT蠖｢蠑丞ｯｾ蠢�)
繝ｻ繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ繝代Λ繝｡繝ｼ繧ｿ(菴咲ｽｮ�ｼ碁崕豬�ｼ梧耳蜉帷ｭ�)縺ｮ繝ｪ繧｢繝ｫ繧ｿ繧､繝�陦ｨ遉ｺ�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻ莉ｻ諢丞､画焚縺ｮ繝ｪ繧｢繝ｫ繧ｿ繧､繝�豕｢蠖｢謠冗判�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻ莉ｻ諢丞､画焚蛟､縺ｮ繝ｪ繧｢繝ｫ繧ｿ繧､繝�陦ｨ遉ｺ�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻ螳滄圀縺ｮ蛻ｶ蠕｡蜻ｨ譛溘�ｮ險域ｸｬ縺ｨ陦ｨ遉ｺ�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻ螳滄圀縺ｮ險育ｮ玲ｶ郁ｲｻ譎る俣縺ｮ險域ｸｬ縺ｨ陦ｨ遉ｺ�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻD/A繧ｳ繝ｳ繝舌�ｼ繧ｿ�ｼ窟/D繧ｳ繝ｳ繝舌�ｼ繧ｿ�ｼ後お繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ縺ｨ縺ｮ繧､繝ｳ繧ｿ繝ｼ繝輔ぉ繝ｼ繧ｹ繧ｯ繝ｩ繧ｹ
繝ｻ繝｢繝ｼ繧ｷ繝ｧ繝ｳ繧ｳ繝ｳ繝医Ο繝ｼ繝ｫ繧ｯ繝ｩ繧ｹ鄒､(遨榊�蝎ｨ�ｼ梧闘莨ｼ蠕ｮ蛻�蝎ｨ�ｼ悟推遞ｮ蛻ｶ蠕｡蝎ｨ�ｼ瑚｣懷─蝎ｨ�ｼ後ヵ繧｣繝ｫ繧ｿ遲�)
繝ｻ讒倥��縺ｪ繧ｯ繝ｩ繧ｹ(繝ｪ繝ｳ繧ｰ繝舌ャ繝輔ぃ�ｼ檎ｵｱ險亥�ｦ逅�遲�)
- Generation, periodical execution, and disposal of multi-realtime thread.
- Writing operation of measured data in the experiment.
- Display of status of actuators (position, current, force, and so on) in real time.
- Plot of waveform of optional variables in real time (you can use this function based on a CUI).
- Display of optional variables in real time.
- Display of actual measured control periods.
- Display of computational time.
- Interfaces class for DACs, ADCs, and encoder counters.
- Motion control class (Integrators, Differentiators, Controllers and Regulators, Compensators, Filters, and so on).
- Other class (Ring buffers, statistical operations).



蠢�隕∫腸蠅�/Hardware and Software Requirements

蠢�隕∫腸蠅�縺ｯ莉･荳九�ｮ騾壹ｊ縺ｧ縺吶��
The hardware and software requirements of ARCS are as follows:

Hardware�ｼ哺ulti-Core CPU, Display(1024x768, 16bits colors)
Software�ｼ哭inux 2.6, RTAI 3.7 or 3.8, Framebuffer, C/C++ standard library.

譌｢遏･縺ｮ繝舌げ/Bug

繝ｻ荳�驛ｨ縺ｮ繧ｷ繝ｳ繧ｰ繝ｫ繧ｳ繧｢縺ｮCPU縺ｫ縺翫＞縺ｦ�ｼ後Μ繧｢繝ｫ繧ｿ繧､繝�繧ｹ繝ｬ繝�繝峨′荳�縺､縺励°遶九■荳翫′繧峨↑縺�迴ｾ雎｡縺悟�ｱ蜻翫＆繧後※縺�縺ｾ縺�
- In the case of certain single core CPU, ARCS 4.1 cannot generate multiple realtime thread.



蟆�譚･莉伜刈縺輔ｌ繧倶ｺ亥ｮ壹�ｮ讖溯�ｽ/Future work

繝ｻEthernet荳翫〒縺ｮ莉ｻ諢丞､画焚蛟､縺ｮ繝ｪ繧｢繝ｫ繧ｿ繧､繝�騾∝女菫｡
繝ｻ遲蛾ｫ倡ｷ壹げ繝ｩ繝包ｼ後き繝ｩ繝ｼ繝槭ャ繝暦ｼ�3谺｡蜈�繝ｯ繧､繝､繝輔Ξ繝ｼ繝�縺ｮ謠冗判�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻ髱呎ｭ｢逕ｻ�ｼ悟虚逕ｻ繝�繝ｼ繧ｿ縺ｮ陦ｨ遉ｺ�ｼ�CUI縺ｧ繧０K�ｼ�
繝ｻ逕ｻ蜒剰ｪ崎ｭ倥け繝ｩ繧ｹ
- Realtime communication for transmitting optional variables by using Ethernet (we are testing now).
- Contour map, color map, 3D wire frames (on a CUI).
- Picture images and video images will be projected on a CUI screen (we are testing now).
- Implementation of image recognition class.



繝ｪ繧｢繝ｫ繧ｿ繧､繝�蛻ｶ蠕｡/Realtime control

繝ｻRTAI繧堤畑縺�縺ｦ繝ｦ繝ｼ繧ｶ遨ｺ髢謎ｸ翫〒險育ｮ励ｒ繝上�ｼ繝峨Μ繧｢繝ｫ繧ｿ繧､繝�縺ｧ螳溯｡後☆繧九��
繝ｻ險育ｮ鈴�上ｄ繧､繝ｳ繧ｿ繝ｼ繝輔ぉ繝ｼ繧ｹ縺ｫ繧医ｋ縺鯉ｼ悟宛蠕｡蜻ｨ譛溘�ｯ100ﾎｼs縺ｧ蜍穂ｽ懷庄閭ｽ縲�
- Using RTAI, your required computation is performed on user space.
- In our lab, the control period is set to 100 micro seconds. (the period time depends on performances).



菴ｿ縺�譁ｹ/How to Use

1. 蛻ｶ蠕｡繝励Ο繧ｰ繝ｩ繝�縺ｮ螳溯｣�/How to implement your tasks
縲�繝ｻ螳溯｣�縺励◆縺�繝励Ο繧ｰ繝ｩ繝�繧抵ｼ�"ControlFunctions.cc" 縺ｫ譖ｸ縺阪％繧�縲�
縲�- In order to implement your tasks, you can write your C/C++ code to "ControlFunctions.cc".

2. 繧ｳ繝ｳ繝代う繝ｫ�ｼ�繝ｪ繝ｳ繧ｯ/How to compile and link


縲�繝ｻ縲靴ontrolFunctions.cc縲阪ｄ縲訓arameters.hh縲阪ｒ螟画峩縺励◆蝣ｴ蜷医�ｯ�ｼ後�稽ake縲阪さ繝槭Φ繝峨〒繧ｳ繝ｳ繝代う繝ｫ�ｼ�繝ｪ繝ｳ繧ｯ
縲�繝ｻ縲畦ib/縲� 莉･荳九�ｮ繝輔ぃ繧､繝ｫ繧貞､画峩縺励◆蝣ｴ蜷医�ｯ�ｼ後�稽ake all縲阪さ繝槭Φ繝峨ｒ菴ｿ逕ｨ縺吶ｋ縺薙→
縲�繝ｻ縲瑚ｭｦ蜻�: array subscript is above array bounds縲阪′蜃ｺ繧九′�ｼ後％繧後�ｯRTAI縺ｮ譁ｹ縺ｮ繧ｽ繝ｼ繧ｹ縺ｪ縺ｮ縺ｧ蝠城｡後↑縺�
縲�- If you changed "ControlFunctions.cc" and/or "Parameters.hh", you can use "make" command to compile and link.
縲�- You should type "make all" when you revise the files in "lib/".
縲�- You can ignore the warning text "warning: array subscript is above array bounds," because it is source code of RTAI.

3. 螳溯｡�/How to execute


縲�繝ｻ縲�./ARCS縲阪→謇薙▽縺ｨ�ｼ御ｻ･荳九�ｮ繧医≧縺ｪ逕ｻ髱｢縺檎樟繧後ｋ
縲�- Type "./ARCS", then ARCS screen shown as the figure below appears.

諡｡螟ｧ


4. 螳滄ｨ馴幕蟋�/How to start
縲�繝ｻ縲郡TART縲阪〒繧ｨ繝ｳ繧ｿ繝ｼ繧ｭ繝ｼ繧呈款縺励※螳滄ｨ馴幕蟋具ｼ√��縺ゅ↑縺溘�ｮ諤昴＞騾壹ｊ縺ｫ蜍輔￥繧医≧�ｼ悟▼髣倥ｒ逾医ｊ縺ｾ縺呻ｼ�
縲�- To start the experiment, you select "START" on the screen, and press enter. Good luck and God's speed !


縲�繝ｻ繧ゅ＠菴輔ｂ縺帙★縺ｫ�ｼ檎ｵゆｺ�縺励◆縺�蝣ｴ蜷医�ｯ縲窪XIT縲阪ｒ驕ｸ繧薙〒繧ｨ繝ｳ繧ｿ繝ｼ繧呈款縺�
縲�- If you want to exit, you select "EXIT", and press enter.


5. 螳滄ｨ鍋ｵゆｺ�/How to stop

諡｡螟ｧ

縲�繝ｻ繝｢繝ｼ繧ｿ縺ｮ菴懷虚繧貞●豁｢縺吶ｋ蝣ｴ蜷医�ｯ�ｼ後お繝ｳ繧ｿ繝ｼ繧呈款縺�
縲�- To stop your robots, please press enter key.


6. 螳滄ｨ薙ョ繝ｼ繧ｿ縺ｮ菫晏ｭ倥→邨ゆｺ�/How to save and exit


縲�繝ｻ貂ｬ螳壹ョ繝ｼ繧ｿ繧剃ｿ晏ｭ倥＠縺溘＞蝣ｴ蜷医�ｯ�ｼ後�郡AVE and EXIT縲阪ｒ驕ｸ縺ｶ
縲�- Please select "SAVE and EXIT" and press enter key if you would like to store measured data to disk.
縲�繝ｻCSV繝輔ぃ繧､繝ｫ縺汽AT繝輔ぃ繧､繝ｫ縺檎函謌舌＆繧後ｋ縺ｯ縺壹〒縺�
縲�- The CSV/DAT file, which is measurement data in the experiment, is generated.


縲�繝ｻ蛻･縺ｫ貂ｬ螳壹ョ繝ｼ繧ｿ繧剃ｿ晏ｭ倥＠縺溘￥縺ｪ縺�縺ｨ縺阪�ｯ�ｼ後�轡ISCARD and EXIT縲阪ｒ驕ｸ縺ｶ
縲�- If you want to discard the data stored to the temporal memory, please select "DISCARD and EXIT" as shown in the above figure, and then press enter.



讒矩��/Structure

繝ｻ蝓ｺ譛ｬ逧�縺ｪ繝輔ぃ繧､繝ｫ讒矩��縺ｯ莉･荳九�ｮ蝗ｳ縺ｮ騾壹ｊ
- The fundamental structure of ARCS is shown in the figure below.





繧ｯ繝ｩ繧ｹ縺翫ｈ縺ｳ髢｢謨ｰ荳�隕ｧ/List of Class and Functions

繝ｻ繧ｯ繝ｩ繧ｹ縺翫ｈ縺ｳ髢｢謨ｰ荳�隕ｧ縺ｯ莉･荳九ｒ蜿ら�ｧ
- You can see the list of the class and functions of ARCS.

繧ｯ繝ｩ繧ｹ縺翫ｈ縺ｳ髢｢謨ｰ荳�隕ｧ/List of Class and Functions


繝輔ぃ繧､繝ｫ/Files

縲�ARCS4.1-REV.20110721-A/ 
	ARCS			螳溯｡悟庄閭ｽ繝輔ぃ繧､繝ｫ/Executable File.
	ARCS.cc			譛ｬ菴�(main髢｢謨ｰ繧貞性繧�)/The main code including main function.
	ARCSscreen.cc		逕ｻ髱｢陦ｨ遉ｺ繧ｽ繝ｼ繧ｹ繧ｳ繝ｼ繝�/The source code for projecting ARCS screen.
	ARCSscreen.hh		逕ｻ髱｢陦ｨ遉ｺ繝倥ャ繝�繝輔ぃ繧､繝ｫ/The header file for above.
	ControlFunctions.cc	蛻ｶ蠕｡繧ｽ繝ｼ繧ｹ繧ｳ繝ｼ繝�(蜻ｨ譛溷ｮ溯｡碁未謨ｰ繧貞性繧�)/The control source code including periodic functions.
				繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ縺ｮ蛻ｶ蠕｡繝励Ο繧ｰ繝ｩ繝�縺ｯ縺薙％縺ｫ譖ｸ縺�
	ControlFunctions.hh	蛻ｶ蠕｡繝倥ャ繝�繝輔ぃ繧､繝ｫ/The header file for the above code.
	Makefile		繝｡繧､繧ｯ繝輔ぃ繧､繝ｫ/Makefile
	Parameters.hh		螳壽焚繝ｻ螟画焚譬ｼ邏咲畑繝倥ャ繝�/The header file for storing constant or variable value.
				蛻ｶ蠕｡蜻ｨ譛滂ｼ梧鋤邂励ご繧､繝ｳ�ｼ靴SV/DAT繝輔ぃ繧､繝ｫ蜷搾ｼ檎ｭ峨��縺ｮ險ｭ螳壹�ｯ縺薙％縺ｫ譖ｸ縺�
	ReadMe.txt		遘√ｒ隱ｭ繧薙〒/Read Me
	lib			濶ｲ縲�縺ｪ繧ｯ繝ｩ繧ｹ縺瑚ｩｰ縺ｾ縺｣縺溘ョ繧｣繝ｬ繧ｯ繝医Μ/The source and header files exist in this directory.
	makefile.depend		萓晏ｭ倬未菫りｨ倩ｿｰ逕ｨ/For dependencies.
縲�ARCS4.1-REV.20110721-A/lib/ 
	AccObsrv.cc		蜉�騾溷ｺｦ繧ｪ繝悶じ繝ｼ繝�(髱槫�ｬ髢�)/Acceleration Observer(closed function).
	AccObsrv.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	ActuatorSim.cc		繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ繧ｷ繝溘Η繝ｬ繝ｼ繧ｿ/Actuator Simulator.
	ActuatorSim.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	DataStorage.cc		貂ｬ螳壹ョ繝ｼ繧ｿ菫晏ｭ倥け繝ｩ繧ｹ/Measurement Data Storage Class.
	DataStorage.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Differentiator.cc	逍台ｼｼ蠕ｮ蛻�蝎ｨ/Pseudo Differentiator.
	Differentiator.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Differentiator2.cc	�ｼ呈ｬ｡逍台ｼｼ蠕ｮ蛻�蝎ｨ/2nd-order Pseudo Differentiator.
	Differentiator2.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	DistObsrv.cc		1谺｡蠖｢螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝�(髱槫�ｬ髢�)/1st-order Disturbance Observer(closed function)
	DistObsrv.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	DistObsrv2.cc		2谺｡蠖｢螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝�(髱槫�ｬ髢�)/2nd-order Disturbance Observer(closed function)
	DistObsrv2.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	FrameGraphics.cc	繝輔Ξ繝ｼ繝�繝舌ャ繝輔ぃ謠冗判繧ｯ繝ｩ繧ｹ/Framebuffer Display Class.
	FrameGraphics.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	GraphPlot2D.cc		繧ｰ繝ｩ繝墓緒逕ｻ繧ｯ繝ｩ繧ｹ/2D Plot Class.
	GraphPlot2D.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	HighPassFilter.cc	1谺｡鬮伜沺騾夐℃豼ｾ豕｢蝎ｨ/1st-order HPF.
	HighPassFilter.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	HighPassFilter2.cc	2谺｡鬮伜沺騾夐℃豼ｾ豕｢蝎ｨ/2nd-order HPF.
	HighPassFilter2.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Integrator.cc		1谺｡遨榊�蝎ｨ/1st-order Integrator.
	Integrator.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Integrator2.cc		2谺｡遨榊�蝎ｨ/2nd-order Integrator.
	Integrator2.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	kbhit.cc		繧ｭ繝ｼ繝懊�ｼ繝画款荳区､懷�ｺ/Key Detector
	kbhit.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Limiter.cc		繝ｪ繝溘ャ繧ｿ/Limitter
	Limiter.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	LowPassFilter.cc	1谺｡菴主沺騾夐℃豼ｾ豕｢蝎ｨ/1st-order LPF.
	LowPassFilter.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	LowPassFilter2.cc	2谺｡菴主沺騾夐℃豼ｾ豕｢蝎ｨ/2nd-order LPF.
	LowPassFilter2.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Makefile		繝｡繧､繧ｯ繝輔ぃ繧､繝ｫ/Makefile
	makefile.depend		萓晏ｭ倬未菫ゅヵ繧｡繧､繝ｫ/The dependencies description for make.
	NotchFilter.cc		繝弱ャ繝√ヵ繧｣繝ｫ繧ｿ/Notchfilter(BEF)
	NotchFilter.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PCI-3133.cc		A/D繧ｳ繝ｳ繝舌�ｼ繧ｿ繧､繝ｳ繧ｿ繝ｼ繝輔ぉ繝ｼ繧ｹ繧ｯ繝ｩ繧ｹ/Interface Class for ADCs.
	PCI-3133.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PCI-3340.cc		D/A繧ｳ繝ｳ繝舌�ｼ繧ｿ繧､繝ｳ繧ｿ繝ｼ繝輔ぉ繝ｼ繧ｹ繧ｯ繝ｩ繧ｹ/Interface Class for DACs.
	PCI-3340.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PCI-6205.cc		繧ｨ繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ繧､繝ｳ繧ｿ繝ｼ繝輔ぉ繝ｼ繧ｹ繧ｯ繝ｩ繧ｹ/Interface Class for Encoder Counters.
	PCI-6205.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PDcontroller.cc		PD蛻ｶ蠕｡蝎ｨ/PD controller.
	PDcontroller.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PhaseLeadLag.cc		菴咲嶌陬懷─蝎ｨ/Phase compensator.
	PhaseLeadLag.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PIcontroller.cc		PI蛻ｶ蠕｡蝎ｨ/PI controller.
	PIcontroller.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	PIDcontroller.cc	PID蛻ｶ蠕｡蝎ｨ/PID controller.
	PIDcontroller.hh	荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Quarry.cc		Quarry陦悟��/Quarry Matrix.
	Quarry.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	RingBuffer.cc		繝ｪ繝ｳ繧ｰ繝舌ャ繝輔ぃ/Ring buffer.
	RingBuffer.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	RTAItask.cc		RTAI繧ｿ繧ｹ繧ｯ逕滓�舌け繝ｩ繧ｹ/RTAI Task Generation Class.
	RTAItask.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	RTAIthread.cc		RTAI繧ｹ繝ｬ繝�繝臥函謌舌け繝ｩ繧ｹ/RTAI Thread Generation Class.
	RTAIthread.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	Statistics.cc		邨ｱ險亥�ｦ逅�/Statistics Functions.
	Statistics.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.
	TimeDelay.cc		驕�蟒ｶ逕滓�舌け繝ｩ繧ｹ/Time Delay Generation Class.
	TimeDelay.hh		荳願ｨ倥�ｮ繝倥ャ繝�/The header of the above source code.


隧ｦ鬨鍋腸蠅�/Experimental Setup

隧ｦ鬨鍋腸蠅�縺ｯ莉･荳九�ｮ騾壹ｊ縺ｧ縺吶��
The experimental setup in the test of ARCS is as follows:

Hardware�ｼ唔ntel Core i7 870 @ 2.93 GHz, Gigabyte P55-UD3R, Intel SSD X25-M
Software�ｼ哥edora 12 64bit, kernel-2.6.32.2, rtai-3.8

荳願ｨ倥〒蜍穂ｽ懊ｒ遒ｺ隱阪＠縺ｦ縺�縺ｾ縺吶��
We confirmed that ARCS is capable of operating normally in this situation.



繝ｩ繧､繧ｻ繝ｳ繧ｹ/Licenses

Copyright (C) 2011 Yuki YOKOKURA
This program is free software;
you can redistribute it and/or modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 3 of the License, or any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
Besides, you can negotiate about other options of licenses instead of GPL.
If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.







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