[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Stewart et al., 1990 - Google Patents

Implementing real-time robotic systems using CHIMERA II

Stewart et al., 1990

View PDF
Document ID
14557553737210383598
Author
Stewart D
Schmitz D
Khosla P
Publication year
Publication venue
1990 IEEE International Conference on Systems Engineering

External Links

Snippet

The CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems, is described. The CHIMERA II environment is designed to reduce the development time of applications by providing a convenient software …
Continue reading at www.ri.cmu.edu (PDF) (other versions)

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for programme control, e.g. control unit
    • G06F9/06Arrangements for programme control, e.g. control unit using stored programme, i.e. using internal store of processing equipment to receive and retain programme
    • G06F9/46Multiprogramming arrangements
    • G06F9/48Programme initiating; Programme switching, e.g. by interrupt
    • G06F9/4806Task transfer initiation or dispatching
    • G06F9/4843Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/4881Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
    • G06F9/4887Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues involving deadlines, e.g. rate based, periodic
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for programme control, e.g. control unit
    • G06F9/06Arrangements for programme control, e.g. control unit using stored programme, i.e. using internal store of processing equipment to receive and retain programme
    • G06F9/46Multiprogramming arrangements
    • G06F9/48Programme initiating; Programme switching, e.g. by interrupt
    • G06F9/4806Task transfer initiation or dispatching
    • G06F9/4843Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/485Task life-cycle, e.g. stopping, restarting, resuming execution
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for programme control, e.g. control unit
    • G06F9/06Arrangements for programme control, e.g. control unit using stored programme, i.e. using internal store of processing equipment to receive and retain programme
    • G06F9/46Multiprogramming arrangements
    • G06F9/54Interprogramme communication; Intertask communication
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for programme control, e.g. control unit
    • G06F9/06Arrangements for programme control, e.g. control unit using stored programme, i.e. using internal store of processing equipment to receive and retain programme
    • G06F9/44Arrangements for executing specific programmes
    • G06F9/455Emulation; Software simulation, i.e. virtualisation or emulation of application or operating system execution engines
    • G06F9/45533Hypervisors; Virtual machine monitors
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for programme control, e.g. control unit
    • G06F9/06Arrangements for programme control, e.g. control unit using stored programme, i.e. using internal store of processing equipment to receive and retain programme
    • G06F9/46Multiprogramming arrangements
    • G06F9/50Allocation of resources, e.g. of the central processing unit [CPU]
    • G06F9/5061Partitioning or combining of resources
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for programme control, e.g. control unit
    • G06F9/06Arrangements for programme control, e.g. control unit using stored programme, i.e. using internal store of processing equipment to receive and retain programme
    • G06F9/44Arrangements for executing specific programmes
    • G06F9/4421Execution paradigms
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor system, interface to servo, programmable interface controller
    • G05B19/4148Structure of the control system, e.g. common controller or multiprocessor system, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F11/00Error detection; Error correction; Monitoring
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F1/00Details of data-processing equipment not covered by groups G06F3/00 - G06F13/00, e.g. cooling, packaging or power supply specially adapted for computer application
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F15/00Digital computers in general; Data processing equipment in general
    • G06F15/76Architectures of general purpose stored programme computers
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F8/00Arrangements for software engineering
    • G06F8/40Transformations of program code
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements

Similar Documents

Publication Publication Date Title
Stewart et al. Implementing real-time robotic systems using CHIMERA II
Stewart et al. The Chimera II real-time operating system for advanced sensor-based control applications
Stewart et al. Integration of real-time software modules for reconfigurable sensor-based control systems
Stewart Real-time software design and analysis of reconfigurable multi-sensor based systems
Chen et al. NYMPH: A multiprocessor for manipulation applications
Srivastava et al. SIERA: A unified framework for rapid-prototyping of system-level hardware and software
Stewart Designing software components for real-time applications
Stewart et al. Design of dynamically reconfigurable real-time software using port-based objects
Schmitz et al. CHIMERA: a real-time programming environment for manipulator control.
Cox et al. Concurrent programming and robotics
Schwan et al. GEM: Operating system primitives for robots and real-time control systems
Lee et al. Implementation of RCCL, a robot control C library on a microVAX II
Cox et al. Concurrent C and robotics
Kossman et al. A multi-processor Robot control system for RCCL under iRMX
Garetti et al. Modosk: a modular distributed operating system kernel for real-time process control
LeBlanc et al. Operating system support for adaptable real-time systems
Singh Design and Evaluation of an Embedded Real-time Micro-kernel
Hildebrand A microkernel POSIX OS for realtime embedded systems
Dickens et al. Towards a thread-based parallel direct execution simulator
Ravn Device monitors
Kommareddy et al. PC-based open architecture servo controller for CNC machining
Wheatley et al. Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system
Narasimhan et al. A standard architecture for controlling robots
van Dijk The design of the EMPS multiprocessor executive for distributed computing
Furukawa et al. A hardware/software cosimulator with RTOS supports for multiprocessor embedded systems