<s>
brickOS	B-Operating_System
is	O
an	O
open-source	B-Application
operating	O
system	O
created	O
by	O
Markus	O
Noga	O
as	O
firmware	O
to	O
operate	O
as	O
an	O
alternative	O
software	O
environment	O
for	O
the	O
Lego	B-Application
Mindstorms	I-Application
Robotic	O
Invention	O
System	O
 [ 14 ] 	O
.	O
</s>
<s>
brickOS	B-Operating_System
is	O
the	O
first	O
open-source	B-Application
software	I-Application
made	O
for	O
Lego	B-Application
Mindstorms	I-Application
robots	O
.	O
</s>
<s>
The	O
operating	O
system	O
comprises	O
demonstration	O
programs	O
implemented	O
in	O
C	O
and	O
C++	O
and	O
an	O
alternative	O
operating	O
system	O
for	O
the	O
Lego	B-Application
Mindstorms	I-Application
.	O
</s>
<s>
BrickOS	B-Operating_System
was	O
designed	O
and	O
developed	O
using	O
Linux	O
as	O
a	O
replacement	O
for	O
the	O
previous	O
operating	O
system	O
for	O
Lego	B-Application
Mindstorms	I-Application
,	O
which	O
is	O
also	O
known	O
as	O
LegOS	B-Operating_System
.	O
</s>
<s>
It	O
allows	O
for	O
a	O
more	O
flexible	O
and	O
higher	O
performances	O
system	O
that	O
is	O
much	O
superior	O
to	O
LegOS	B-Operating_System
 [ 3 ] 	O
.	O
</s>
<s>
BrickOS	B-Operating_System
programs	O
are	O
executed	O
natively	O
instead	O
of	O
interpreted	O
bytes	O
code	O
 [ 12 ] 	O
like	O
that	O
of	O
a	O
standard	O
firmware	O
which	O
in	O
terms	O
makes	O
the	O
program	O
faster	O
.	O
</s>
<s>
BrickOS	B-Operating_System
is	O
flexible	O
with	O
controlling	O
outputs	O
[2],	O
for	O
instance	O
,	O
it	O
can	O
alter	O
255	O
value	O
of	O
motor	O
speed	O
.	O
</s>
<s>
Another	O
feature	O
is	O
that	O
brickOS	B-Operating_System
contains	O
a	O
LegOS	B-Operating_System
Network	O
Protocol	O
(	O
LNP	O
)	O
which	O
allows	O
for	O
more	O
than	O
one	O
driver	O
to	O
communicate	O
.	O
</s>
<s>
BrickOS	B-Operating_System
provides	O
a	O
development	O
environment	O
that	O
allows	O
users	O
to	O
freely	O
implement	O
the	O
provided	O
RCX	O
drivers	O
,	O
such	O
as	O
sensors	O
and	O
motors	O
,	O
using	O
C	O
or	O
C++	O
programming	O
languages	O
.	O
</s>
<s>
In	O
robotics	O
,	O
libre	O
software	O
(	O
or	O
open-source	B-Application
software	I-Application
)	O
like	O
brickOS	B-Operating_System
is	O
considered	O
a	O
traditional	O
tool	O
for	O
developing	O
robots	O
 [ 1 ] 	O
.	O
</s>
<s>
The	O
practices	O
of	O
the	O
open-source	B-Application
software	I-Application
in	O
robotic	O
research	O
have	O
inspired	O
the	O
formation	O
of	O
the	O
Robocup	O
competition	O
.	O
</s>
<s>
BrickOS	B-Operating_System
was	O
a	O
collaboration	O
project	O
between	O
LEGO	O
and	O
MIT	O
to	O
create	O
an	O
educational	O
tool	O
for	O
teaching	O
the	O
implementation	O
of	O
sensors	O
and	O
motors	O
on	O
robots	O
.	O
</s>
<s>
The	O
simplicity	O
of	O
the	O
mechanical	O
devices	O
in	O
the	O
Lego	B-Application
Mindstorm	I-Application
kit	O
allows	O
for	O
obtaining	O
the	O
concept	O
of	O
robots	O
and	O
developing	O
creative	O
and	O
logical	O
thinking	O
.	O
</s>
