• Main.ANewDistributedReal-TimeControllerForRoboticsApplications


Kod*lab Menu



Internal Links (Login Required)



Kod*lab Publications

A new distributed real-time controller for robotics applications

COMPCON Spring ‘89. Thirty-Fourth IEEE Computer Society International Conference: Intellectual Leverage, Digest of Papers.

M. Buehler*, L. Whitcomb*, F. Levin*, and D.E. Koditschek†
*Dept. of Electr. Eng., Yale Univ., New Haven, CT †University of Pennsylvania

Full PDF | Penn Scholarly Commons

Abstract
A description is given of a dual-board real-time distributed control module based on the INMOS T414/T800 transputers. The CPU board provides fast external memory, support for the four 10-MHz serial transputer links including two fiber-optic links, and an I/O expansion connector. The board’s backplane connector is pin-compatible with the INMOS ITEM development system. The plug-in I/O board provides a bidirectional latched 32-bit I/O bus with full handshaking support. Half of this board is allotted to a wire-wrap prototyping area allowing for customization to specific I/O needs. It is asserted that an easily configurable network built from this low-cost modular design should be able to tackle the most demanding real-time control applications, with respect to computation as well as I/O requirements. A description is given of two particular applications presently underway in the Yale Robotics Laboratory
BibTeX entry
@INPROCEEDINGS{301905, 
author={Buhler, M. and Whitcomb, L. and Levin, F. and Koditschek, D.E.}, 
booktitle={COMPCON Spring '89. Thirty-Fourth IEEE Computer Society International Conference: Intellectual Leverage, Digest of Papers.}, 
title={A new distributed real-time controller for robotics applications }, 
year={1989}, 
month={feb-3 mar}, 
volume={}, 
number={}, 
pages={63 -69}, 
keywords={10 MHz;I/O expansion connector;INMOS ITEM development system;INMOS 
T414/T800 transputers;backplane connector;bidirectional latched 32-bit I/O 
bus;distributed real-time controller;fiber-optic links;robotics applications;computerised control;controllers
;real-time systems;transputers;}, 
doi={10.1109/CMPCON.1989.301905}, 
ISSN={},}
}

Copyright Kodlab, 2017