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transputers for robotic control

Transputers for robotic control

引用

iee colloquium on parallel processing in control - the transputer and other architectures

作者： H. Mirab P.J. Gawthrop Department of Mechanical Engineering University of Glasgow Glasgow UK

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. The computational needs for processing of the external data and implementation of complex control strategies for tasks involving precision path following at high speeds, high band-width compliance and adaptive control, are quite intensive. 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. The transputer, being general purpose, capable of high speed processing with extensive capabilities is a relatively low cost processor which suitably fulfils the robot control computational requirements stated above.< >

关键词： Digital control Robots Microprocessors

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Real time simulation and control of power systems

Real time simulation and control of power systems

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iee colloquium on parallel processing in control - the transputer and other architectures

作者： T. Berry A.R. Daniels R.W. Dunn School of Electrical Engineering University of Bath Bath UK

Work at Bath has developed from optimal control studies for a single generator, to the simulation of complex multi-machine power systems. Early work showed that power system simulation could be divided into several concurrent processes. At the highest level user interaction and graphical output can run concurrently with the main calculation model. The model itself has inherent concurrency between the individual generators. This can be exploited by a computer system using a number of processing units. Using multiple microprocessors, a power system simulator can be built with dedicated hardware giving reasonable performance at low cost.< >

关键词： Simulation Generators Power system control

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The measurement and production control of woven mesh

The measurement and production control of woven mesh

引用

iee colloquium on parallel processing in control - the transputer and other architectures

作者： G.S. Virk P.W. Wood I.D. Durkacz Department of Control Engineering University of Sheffield Sheffield UK Dept. of Control Eng. Sheffield Univ. UK

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. The authors present 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.< >

关键词： Image processing Industrial control Textile industry

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parallel methodologies for large-scale simulation

Parallel methodologies for large-scale simulation

引用

iee colloquium on parallel processing in control - the transputer and other architectures

作者： A.W. Burton Control Syst. Centre Univ. of Manchester Inst. of Sci. & Technol. UK

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. This is more true today than ever before. 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 problem arises that as physical systems evolve in complexity, the dimensionality of the underlying dynamical equations can rise dramatically, creating an immense computational burden at simulation time. Often this may result in the violation of any real-time constraints, and the effects may become so acute as to render computer times that are excessive to the point of impracticality. Consequently, the authors are concerned with the development of parallel methodologies for such problems. Attention is focused on a necessarily restricted set of large-scale systems (LSS): those that are adequately described by high-dimensional sets of ordinary differential equations (ODE's) in state-space form. It should be noted however, that many of the general concepts relating to parallelism exploitation, extend to a much wider class of problems.< >

关键词： Simulation parallel algorithms

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Mapping control algorithms onto transputer arrays

Mapping control algorithms onto transputer arrays

引用

iee colloquium on transputer Applications

作者： L.P. Maguire G.W. Irwin G. Lightbody Department of Electrical and Electronic Engineering Queen''s University Belfast Ireland

The Inmos transputer has stimulated significant interest in parallel processing for control. It offers real-time implementation of complex algorithms at a reasonable cost but if parallel architectures are to be fully exploited it is essential that systematic mapping procedures emerge from the application specific solutions presently under consideration. The paper proposes two different mapping procedures. One relies on a fine-grained systolic array description of computation and is applied to transputer realisation of discrete Kalman filters for state feedback control of a simple missile engagement. The other uses an analogue computer flow diagram to produce a real-time simulation of a bank-to-turn missile. In each case practical results have been obtained.< >

关键词： Algorithms Cellular logic arrays Simulation Feedback Flowcharts Kalman filtering Military equipment Missiles parallel algorithms Real time systems Tracking Microprocessors

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Visualisation from digital map databases using transputers

Visualisation from digital map databases using transputers

引用

iee colloquium on transputer and Signal processing

作者： H.C. Webber K.J. Palmer RSRE Malvern Malvern Worcestershire UK

An ever increasing amount of map data for the world's land masses is held in digital format. The computational demands of producing images in an acceptable time can be met by using high performance and low cost parallel processing machines so that new algorithms can be rapidly prototyped and tested. Such an approach has been made feasible by the use of transputer systems. There are a number of conventional algorithms which take digital surface data and process it to produce the required images. Most current algorithms are inherently sequential and do not, in general, map easily onto parallel processor architectures. The authors show that by careful algorithm design the problem can be mapped onto a number of processors by exploiting the fact that a calculation for one area is not dependent on any other data manipulations other than its own and hence can proceed independently. The algorithm is based on ray casting.< >

关键词： Image processing Database management systems parallel algorithms parallel machines Microprocessors

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transputer control and sensing architectures for mobile robots

Transputer control and sensing architectures for mobile robo...

引用

iee colloquium on Robot Systems architectures

作者： P.J. Probert H. Hu Department of Engineering Science Robotics Research Group Oxford UK

Concerns a project developing an architecture for a mobile factory robot, the GEC Turtle. This vehicle, which measures 0.9*1.2 m with a platform 0.6 m high, is equipped with a variety of sensors including sonar, trinocular stereo and a sophisticated laser range finder. The architecture is to be applicable to certain other vehicles. A distributed transputer architecture is adopted for sensing and control. The transputer provides a powerful on-board facility and adapts easily to a distributed reconfigurable sensing and control strategy. A generic transputer architecture for sensors with local intelligence allows the building of networks of distributed sensors and opens an integrated path for combining the information of disparate sensors. In control, a distributed architecture overcomes the bottlenecks associated with a centralised controller. The use of transputers throughout gives a consistent interface for easy communication and interfacing between the various units in the sensing and control strategy.< >

关键词： Mobile robots Multiprocessing parallel architectures Microprocessors

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An expandable distributed DSP computer

An expandable distributed DSP computer

引用

iee colloquium on General-Purpose Signal-processing Devices

作者： G.J. Porter N.O. Van Haght Department of Electronic & Electrical Engineering Parallel and Novel Architectures Research Group University of Bradford UK

A distributed computer containing DSP devices as the computational elements is presented. The computer is based on multiple processor modules (TM5320CXX series), interconnected via a time division multiplexed transputer link channel to a central control unit. Some simulation performance results for the communication mechanism are also presented.< >

关键词： Digital signal processors Distributed computing parallel architectures parallel machines Data buses Time division multiaccess

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Application of transputers to the control of a batch distillation rig

Application of transputers to the control of a batch distill...

引用

iee colloquium on parallel processing: Industrial and Scientific Applications

作者： D.C. Eardley S. Lucas Advanced Process Control Centre of Liverpool Polytechnic UK

The problem of controlling any complex process by its very nature requires a parallel solution for the control system. A transputer based architecture is compatible thus allowing a logical solution to the problem. Furthermore with the increased demands being placed on control systems a parallel process control solution is becoming more attractive. The authors demonstrate the parallel computer control of a batch distillation rig, using an array of transputers, and show the advantages and disadvantages of such a scheme against a realtime multitasking control system. The transputer network consists of a host T800 transputer, mounted in a PC, connected to a system of 11 other T800 transputers. The network transputers are able to communicate with the rig via special interface cards. The code on all the transputers is written in the Occam programming language.< >

关键词： Process control Microprocessors

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Application of parallel processing in fault tolerant gas turbine engine control

Application of parallel processing in fault tolerant gas tur...

引用

iee colloquium on System architectures for Failure Management

作者： H.A. Thompson Advanced Development Group Dowty Controls Loudwater UK

Describes a demonstrator project investigating the use of parallel processing in fault-tolerant gas turbine engine control undertaken by Dowty controls. The vehicle for this work is the Inmos transputer. As a multiple processor architecture is to be used there is inherent redundancy within the system and the aim of this work is to try and exploit this redundancy to introduce fault tolerance into the system while efficiently utilising the processing power available. A system simulator is under development which uses multiprocessor arrays. This simulator allows engine and controller simulations to be operated in closed-loop and allows different fault tolerant strategies and dynamic reconfiguration to be investigated. A user interface is used to alter system parameters during operation and for inducing failures in the system. Among the concepts being investigated are load balancing, dynamic scheduling, fault detection and recovery strategies.< >

关键词： Digital control Computer fault tolerance Gas turbines parallel processing Microprocessors

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