A Parallel Computation and Control Computer for Microrobotics

A new parallel computer architecture suitable for high speed computation and real time control is presented. The distributed memory multiple processor system is based upon two novel concepts. Firstly, interprocessor communication is effected by reading and writing to dual port memory modules shared between pairs of processors. Communication between processors may be performed in the same order of time as that required to access local memory. Secondly, a three dimensional arrangement of communication busses results in regions of close bus to bus proximity making practicable a fully connected system with a moderate number of processors.