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CHIMERA II - A real-time multiprocessing environment for sensor-based robot controlA multiprocessing environment for a wide variety of sensor-based robot system, providing the flexibility, performance, and UNIX-compatible interface needed for fast development of real-time code is addressed. The requirements imposed on the design of a programming environment for sensor-based robotic control is outlined. The details of the current hardware configuration are presented, along with the details of the CHIMERA II software. Emphasis is placed on the kernel, low-level interboard communication, user interface, extended file system, user-definable and dynamically selectable real-time schedulers, remote process synchronization, and generalized interprocess communication. A possible implementation of a hierarchical control model, the NASA/NBS standard reference model for telerobot control system is demonstrated.
Document ID
19900057798
Document Type
Conference Paper
Authors
Stewart, David B. (Carnegie-Mellon Inst. of Research Pittsburgh, PA, United States)
Schmitz, Donald E. (Carnegie-Mellon Inst. of Research Pittsburgh, PA, United States)
Khosla, Pradeep K. (Carnegie-Mellon University Pittsburgh, PA, United States)
Date Acquired
August 14, 2013
Publication Date
September 1, 1989
Subject Category
COMPUTER SYSTEMS
Funding Number(s)
CONTRACT_GRANT: NAG5-1091
CONTRACT_GRANT: DAAA21-89-C-0001
Distribution Limits
Public
Copyright
Other