Andrew Straw - realtime computing - Realtime feedback systems: mechanical, analog electronics, digital computers (no OS) - How to use a pre-emptive multi-tasking system to do realtime control - Nondeterministic aspects of computing, such as garbage collection - Hard realtime vs. soft realtime - Guaranteed max latency vs. no timing guarantees - No OS, difficult programming vs. simple programming - Traditional control systems (infinite bandwidth) vs. networked control systems - Sensors, actuators, controllers... - Navigation of flies - Grand unified fly - Sensory systems - Aerodynamics/rigid body dynamics - Environment - Experiments with this real-time control system - Interact with physical objects - Real time tracking system - Do high-level programming in Python, interface with hard-realtime systems