NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Parallel fault-tolerant robot controlA shared memory multiprocessor architecture is used to develop a parallel fault-tolerant robot controller. Several versions of the robot controller are developed and compared. A robot simulation is also developed for control observation. Comparison of a serial version of the controller and a parallel version without fault tolerance showed the speedup possible with the coarse-grained parallelism currently employed. The performance degradation due to the addition of processor fault tolerance was demonstrated by comparison of these controllers with their fault-tolerant versions. Comparison of the more fault-tolerant controller with the lower-level fault-tolerant controller showed how varying the amount of redundant data affects performance. The results demonstrate the trade-off between speed performance and processor fault tolerance.
Document ID
19930045125
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hamilton, D. L.
(NASA Headquarters Washington, DC United States)
Bennett, J. K.
(NASA Headquarters Washington, DC United States)
Walker, I. D.
(Rice Univ. Houston, TX, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Cybernetics
Accession Number
93A29122
Funding Number(s)
CONTRACT_GRANT: NSF CDA-86-19393
CONTRACT_GRANT: NSF MSS-90-24391
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available