This colloquium contains 9 articles on the use of transputer and otherarchitectures. Topics covered include: real-time control of high-speed machines, transputer hardware and software for a multimanipulator robotic e...
详细信息
This colloquium contains 9 articles on the use of transputer and otherarchitectures. Topics covered include: real-time control of high-speed machines, transputer hardware and software for a multimanipulator robotic environment;parallel methodologies for large-scale simulation;applications of transputers to aircraft simulation and control and real-time simulation and control of power systems.
A number of tools have been developed for automating the partitioning of control algorithms as a number of parallel tasks and, for the scheduling of these on a transputer-based system. Strategies of dynamic and static...
详细信息
A number of tools have been developed for automating the partitioning of control algorithms as a number of parallel tasks and, for the scheduling of these on a transputer-based system. Strategies of dynamic and static task allocation have been implemented and their features described. The tools permit simulation and evaluation of strategies, by displaying processor activity and performance.
control of a robot in any environment requires a range of complicated processing tasks. Cooperation with another robot introduces greater flexibility with further complication of the existing tasks and addition of new...
详细信息
control of a robot in any environment requires a range of complicated processing tasks. Cooperation with another robot introduces greater flexibility with further complication of the existing tasks and addition of new tasks required for cooperation. This paper shall examine the software and hardware architecture for such a system.
This paper describes research into the specification, design and implementation of real-time synchronisation and control software for a transputer-controlled, modular, multi-axis, independently driven, high-speed, pac...
详细信息
This paper describes research into the specification, design and implementation of real-time synchronisation and control software for a transputer-controlled, modular, multi-axis, independently driven, high-speed, packaging machine under normal and abnormal conditions. The research has already demonstrated the feasibility of using independent drives and software-based controllers for the synchronisation of both intermittent and continuous motions in applications at the boundary of existing technology.
The functions of a robot controller can consist of planning, organisation, coordination and decision making at the top of control hierarchy and, joint angle control at the bottom end. Partition of the computational ta...
详细信息
The functions of a robot controller can consist of planning, organisation, coordination and decision making at the top of control hierarchy and, joint angle control at the bottom end. Partition of the computational tasks between various independent processors, which can operate in parallel and communicate with each other when necessary, can help alleviate the burden and allow real-time implementation of a desired control algorithm. For control problem decomposition, although some parts of the algorithm can be considered to be efficiently mapped to a standard parallel architecture, a better performance can be achieved, by exploiting the inherent parallelism of the algorithm first and then devising a suitable processor topology, which matches the number of processes and has identical communication structures, in relation to the developed parallel algorithm. The transputer, being general purpose, capable of high speed processing with extensive capabilities is a relatively low cost processor which suitably fulfills the robot control computational requirements.
Techniques for implementing an aircraft simulation and control system on a network of transputers are described. Different parallelisation approaches are shown to be appropriate within each of the major constituent pr...
详细信息
Techniques for implementing an aircraft simulation and control system on a network of transputers are described. Different parallelisation approaches are shown to be appropriate within each of the major constituent processes. The task of atmospheric turbulence simulation is used to illustrate the procedure.
System simulation involves the construction of a computational analogue of a physical system - a process which has traditionally been associated with intemperate demands on processing time. Complex large-scale plant s...
详细信息
System simulation involves the construction of a computational analogue of a physical system - a process which has traditionally been associated with intemperate demands on processing time. Complex large-scale plant simulators and process mimics are almost commonplace in some high-technology industries. In such settings, simulation may be used in both the design and validation of novel control strategies, as well as forming part of an operator training programme, or in cause-consequence diagnostics.
The proceedings contains 10 papers. Some of the specific topics discussed are: animation using accelerated ray tracing on a hypercube;SPARC-GAP- a parallel genetic algorithm processing;a transputer based parallel DSP ...
详细信息
The proceedings contains 10 papers. Some of the specific topics discussed are: animation using accelerated ray tracing on a hypercube;SPARC-GAP- a parallel genetic algorithm processing;a transputer based parallel DSP (digital signal processing) environment;and parallel architecture for real-time control.
In the weaving industry a variety of meshes are manufactured, using both metallic and nonmetallic materials, for a wide variety of filtration applications. At present the quality of the mesh is monitored at several st...
详细信息
In the weaving industry a variety of meshes are manufactured, using both metallic and nonmetallic materials, for a wide variety of filtration applications. At present the quality of the mesh is monitored at several stages of the manufacturing process to keep selected parameters within specified limits. This involves stopping the process approximately every half hour, manually assessing the mesh quality, and taking remedial action as necessary. There is a need to replace these manual checks with an automatic system that can continually monitor the mesh as it is being manufactured and, with appropriate actuators, control the loom on-line. This paper presents initial results of research being conducted at Sheffield University to develop such a system for wire mesh. Early experiments proved that a contact measurement technique is inappropriate due to the severe vibrations and backlash nonlinearities present in most looms. The approach adopted here therefore, is to use image processing techniques. The instrument is transputer based so that the image processing can be performed on several processors to achieve the real-time performance necessary for on-line monitoring and control purposes.
暂无评论