This paper presents a control architecture for robots in dynamic and unstructured environments. It is based on the combination of several parallel behavior modules: reactive behaviors and directive behaviors with path...
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ISBN:
(纸本)078037925X
This paper presents a control architecture for robots in dynamic and unstructured environments. It is based on the combination of several parallel behavior modules: reactive behaviors and directive behaviors with path planning and behavior state feedback, which makes behavioral closed loop. A Finite State Automata model is used to describe the activity sequence the robot must follow. Detailed behavior planning including path planning is executed by stages to prevent the computation waste and the sensing function is activated whenever possible. At last, a distributed computational mechanism of multiple DSP devices is developed and functional modules are implemented in the way of multitask on a RTOS platform. The system has an open modular and scalable architecture, and a high performance with a low cost.
The performance of a computer system depends upon the efficiency of its swapping mechanisms. The swapping efficiency is a complex function of many variables. The degree of multiprogramming, the relative loading on the...
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We present a model of a multiprogrammed, virtual memory interactive system, in which the processes are assumed to form two different classes as regards characteristics such as total compute time, input-output rate and...
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The paper presents an analytic performance model of a multi-programmed batch and timeshared context swapped system. The model predicts resource utilizations, batch throughput and timesharing response times as function...
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ISBN:
(纸本)9781450374972
The paper presents an analytic performance model of a multi-programmed batch and timeshared context swapped system. The model predicts resource utilizations, batch throughput and timesharing response times as functions of the system hardware characteristics, including core size;load characteristics, differing between batch and interactive users;and the numbers of batch and interactive users. Thus, it allows one to study the effects of different hardware configurations and/or load patterns on system performance.
A model of paged multiprogramming computer systems using variable storage partitioning is considered. A variable storage partitioning policy is one which allocates storage among the active tasks according to a sequenc...
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Recent trends in computer technology and design favor the development of computer systems with low levels of multiprogramming. Performance measures such as throughput can be improved under these circumstances by overl...
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This paper examines how tasking is implemented in the languages Concurrent C, SR, and Ada. It describes how a solution was implemented for the Dining Philosophers problem in each of the three languages. Lastly, it com...
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This paper examines how tasking is implemented in the languages Concurrent C, SR, and Ada. It describes how a solution was implemented for the Dining Philosophers problem in each of the three languages. Lastly, it compares how tasks are implemented and used in those languages, and the advantages and disadvantages of each.
A computer system (CS) as a space-distributed multiclusters composition is considered in this paper. The software tools for organizing multiprogramme regimes of multicluster CS are proposed.
ISBN:
(纸本)0889864756
A computer system (CS) as a space-distributed multiclusters composition is considered in this paper. The software tools for organizing multiprogramme regimes of multicluster CS are proposed.
We consider multiprogramming operation in large scale grid-connected multicomputer systems where the grid is spatially partitioned among the programs. We regard the problem as a two-dimensional resource allocation pro...
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Available information about the performance of multiminicomputers architectures arranged in a cluster or localized network (e.g., in the same room) is inadequate. Performance studies on multiple computers have concent...
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