A distributed implementation of a mode switching control program

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

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    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
    Publication date1995
    ISBN (Print)08-18-67112-2
    Publication statusPublished - 1995
    Event7th Euromicro Workshop on Real-Time Systems - Odense, Denmark
    Duration: 14 Jun 199516 Jun 1995
    Conference number: 7


    Workshop7th Euromicro Workshop on Real-Time Systems
    Internet address

    Bibliographical note

    Copyright: 1995 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE


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