Transputer computer juggles real-time robotics

The Inmos Transputer is supported by an integrated software/development system well-suited for parallel and concurrent versions of numerically complex operations. The Transputer allows the designer to place the burdens of parallelism on a commercial product, while concentrating on customizing the co...

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Bibliographic Details
Published in:ESD 1989-02, Vol.19 (2), p.77
Main Authors: Levin, Forrest, Buehler, M, Whitcomb, L, Koditschek, D.E
Format: Article
Language:English
Subjects:
Buses
Integrated software
Interfaces
Parallel processing
Real-time control
Real-time systems
Robot arms
Robots
Systems design
Systems integration
Transputers
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Summary:The Inmos Transputer is supported by an integrated software/development system well-suited for parallel and concurrent versions of numerically complex operations. The Transputer allows the designer to place the burdens of parallelism on a commercial product, while concentrating on customizing the computational "identity" of specific nodes with special-purpose hardware. A Transputer-based node is placed on a single board using the Yale XP/DCS central processing unit design. Four serial links are available on the rear edge connector, and link speeds are chosen by the user. In asynchronous input/output mode, devices can be accessed independent of speed. The main program consists of 2 parallel processes: 1. a puck tracking program, and 2. a communication program that communicates with the controller. This parallel construct exploits the fact that a Transputer can simultaneously communicate on several links without seriously affecting ongoing computation. It also decouples the timing of controller and sensor, permitting them to operate at different cycle times.
ISSN:0893-2565