Abstract
The authors report on Onika, an iconically programmed human-machine interface, to interact with a reconfigurable software framework to create a reusable code. Onika presents appropriate work environments for both application engineers and end-users. For engineers, icons representing real-time software modules can be combined to form real-time jobs. For the end-user, icons representing these jobs are assembled by the user into applications. Onika verifies that all jobs and applications are syntactically correct, non-ambiguous, and complete. They can then be executed from within Onika, or can be saved as a stand- alone program which can be executed independently on the underlying real-time operating system. Onika has been fully integrated with the Chimera real-time operating system in order to control several different robotic systems in the Advanced Manipulators Laboratory at Carnegie Mellon University.