Departmental Papers (ESE)

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Abstract

This paper illustrates the use of the Yale XP/DCS - a dual board real-time distributed control module based upon the INMOS Transputer family of micoprocessors - for high performance real-time motion control applications. The XP/DCS complements the the Transputer’s 1.5 Mflop computational rate and four independent on-chip 20 Mbps DMA communication engines, by providing a bidirectional latched 32 bit bus extension with full handshaking support for easy customization of the I/O capabilities of any node. After contrasting this design with commercially available alternatives we describe three particular applications presently underway in the Yale Robotics Laboratory. We conclude by reporting some initial experiments concerning the effect of code distribution and message passing protocols upon sampling rate.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

6-23-1989

Publication Source

Proceedings of the American Control Conference

Start Page

478

Last Page

483

Comments

Copyright 1989 IEEE. Reprinted from Proceedings of the American Control Conference, pages 478-483.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

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.

Bib Tex

@inproceedings{Buehler-conference-1989, author = {M. Buehler and L. L. Whitcomb et al}, title = {A Distributed Message Passing Computational and I/O Engine for Real-Time Motion Control}, booktitle = {Proceedings of the American Control Conference}, year = {1989}, location = {Pittsburgh, PA}, month = {June}, }

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Date Posted: 25 July 2014

This document has been peer reviewed.