A distributed implementation of a mode switching control program

Michael Holdgaard, Thomas Juul Eriksen, Anders P. Ravn, Torben Ole Andersen

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    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
    Original languageEnglish
    Title of host publicationProceedings of the Seventh Euromicro Workshop on Real-Time Systems
    PublisherIEEE
    Publication date1995
    Pages164-168
    ISBN (Print)08-18-67112-2
    DOIs
    Publication statusPublished - 1995
    Event7th Euromicro Workshop on Real-Time Systems - Odense, Denmark
    Duration: 14 Jun 199516 Jun 1995
    Conference number: 7
    http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=3901

    Workshop

    Workshop7th Euromicro Workshop on Real-Time Systems
    Number7
    CountryDenmark
    CityOdense
    Period14/06/199516/06/1995
    Internet address

    Bibliographical note

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