MARUTI at ARDEC.

This is the final report of the effort undertaken at the University of Maryland, sponsored by DARPA under the DSSA (Domain Specific Software Architectures) program. The activities reported here required an active cooperation and collaboration of the US Army ARDEC (Automation and Robotics Laboratory) and the University of Maryland (Computer Science Department). The principal investigators have been developing a hard real time operating system, MARUTI, at the University of Maryland. The goal of this effort was to demonstrate the applicability and usefulness of this operating system for exercising PID control at high frequency on the ATB1000 testbed which has been used to simulate a gun turret. A MARUTI based PID controller which operates at 200 HZ and 400 HZ was successfully implemented to demonstrate this feasibility.