2002 · 73 citations · 10 references
ComputingComputer ScienceComputer SystemsReal-time SystemsRobot ControlRoboticsReal-time ControlReal-time SchedulingReal-time Systems ArchitectureReal-time Systems DesignReal-time Systems ProgrammingRobot Control ArchitectureCommunication PrimitivesOperating System ArchitecturePriority SchedulingReal-time CommunicationReal-time Kernel DesignReal-time Task SchedulingSoftware Architecture For RoboticsSoftware Interface Design
A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time 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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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