Departmental Papers (ESE)



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


Publication Source

Proceedings of the American Control Conference

Start Page


Last Page



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

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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}, }



Date Posted: 25 July 2014

This document has been peer reviewed.