Implementing real-time robotic systems using CHIMERA II

Author

Stewart, David B. ; Schmitz, Donald E. ; Khosla, P.K.

fYear

1990

fDate

9-11 Aug. 1990

Firstpage

252

Lastpage

257

Abstract

The CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems, is described. The CHIMERA II environment is designed to reduce the development time of applications by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control. such as NASREM, to be implemented with minimal programming time and effort

Keywords

multiprocessing systems; operating systems (computers); programming environments; robot programming; CHIMERA II; NASREM; VME backplanes; deadline scheduling; highest-priority-first scheduling; interprocessor communication primitives; multiple processors; operating system; programming environment; real-time robotic systems; software interface;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems Engineering, 1990., IEEE International Conference on

Conference_Location

Pittsburgh, PA, USA

Print_ISBN

0-7803-0173-0

Type

conf

DOI

10.1109/ICSYSE.1990.203145

Filename

5725677