A distributed implementation of a mode switching control program

Author

Holdgaard, Michael ; Eriksen, Thomas J. ; Ravn, Anders P. ; Andersen, Torben O.

Author_Institution

Dept. of Comput. Sci., Tech. Univ. Denmark, Lyngby, Denmark

fYear

1995

fDate

14-16 Jun 1995

Firstpage

164

Lastpage

168

Abstract

A distributed implementation of a mode switched control program for a robot is described. The design of the control program is given by a set of real-time automatons. One of them plans a schedule for switching between a fixed set of control functions, another dispatches the control functions according to the schedule, and a final one monitors the system for exceptions that shall lead to a halt. The implementation uses four transputers with a distribution of phases of the automatons over the individual processors. The main technical result of the paper is calculations that illustrate how to justify that the implementation meets real-time constraints

Keywords

distributed processing; exception handling; real-time systems; robots; scheduling; system monitoring; control program design; distributed implementation; exceptions; mode switching control program; real-time automatons; real-time constraints; robot; schedule; system monitoring; transputers; Automata; Automatic control; Computer science; Control engineering; Control systems; Power system modeling; Processor scheduling; Real time systems; Robots; Switches;

fLanguage

English

Publisher

ieee

Conference_Titel

Real-Time Systems, 1995. Proceedings., Seventh Euromicro Workshop on

Conference_Location

Odense

ISSN

1068-3070

Print_ISBN

0-8186-7112-2

Type

conf

DOI

10.1109/EMWRTS.1995.514307

Filename

514307