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The Yale Real-Time Distributed Control System: XP/DCS Version 1.0

Proceedings of the 1988 National OCCAM Users Group Meeting, April 1988

M. Buehler*, F. Levin*, G. Unno*, D. E. Koditschek
*: Yale University
†: University of Pennsylvania
NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

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      This report describes the development of a dual board real time distributed control module based on the INMOS T414/T800 Transputers. The CPU board complements the Transputer’s modular and flexible character by providing fast external memory, support for the four serial communication links, two fiber optic links and an I/O expansion connector. The board’s back-plane connector is pin compatible with the INMOS ITEM Development System. The plug-in I/O board enhances the Transputer’s computational and communication power with a bidirectional latched 32 bit I/O bus with full handshaking support. Half of this board is alloted to a wire-wrap prototyping area allowing for easy customization to specific I/O needs.
      This modular system or an easily configurable network thereof should be able to tackle the most demanding real time control application, with respect to computation as well as I/O requirements. The cost of the board set at the time of writing is slightly over $2000.
BibTeX entry
  author       = {M. Buehler and F. Levin et al},
  title        = {The Yale Real-Time Distributed Control System: XP/DCS Version 1.0},
  booktitle    = {Proceedings of the 1988 National OCCAM Users Group Meeting},
  year         = {1988},
  month        = {April},

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