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transputer-based fault-tolerant robot controller

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Date Issued:
1990
Summary:
In recent years robots have become increasingly important in many areas. A robotic controller requires high speed and high reliability and its design must continue these two aspects. This thesis presents a design for a Transputer based fault tolerant robot controller. For concreteness, we have designed this controller for a specific robot, the SEDAB, a prototype developed by IBM Corp. This design attempts to satisfy the two requirements of speed and reliability. Speed is achieved by the use of a concurrent structure composed of Transputers. Reliability is provided by a self-testing mechanism and a multiprocessor system architecture. The Occam implementation of the robot processes is described. We have evaluated the reliability of this controller. The reliability study shows that there is a significant increase in the reliability of this controller due to the new architecture and proposed fault detection mechanism. While we have not been able to actually control this robot, we have shown that some scheduling heuristics can be effectively used to provide a higher level of performance.
Title: A transputer-based fault-tolerant robot controller.
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Name(s): Kulkarni, Shubhada R.
Florida Atlantic University, Degree grantor
Fernandez, Eduardo B., Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1990
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 148 p.
Language(s): English
Summary: In recent years robots have become increasingly important in many areas. A robotic controller requires high speed and high reliability and its design must continue these two aspects. This thesis presents a design for a Transputer based fault tolerant robot controller. For concreteness, we have designed this controller for a specific robot, the SEDAB, a prototype developed by IBM Corp. This design attempts to satisfy the two requirements of speed and reliability. Speed is achieved by the use of a concurrent structure composed of Transputers. Reliability is provided by a self-testing mechanism and a multiprocessor system architecture. The Occam implementation of the robot processes is described. We have evaluated the reliability of this controller. The reliability study shows that there is a significant increase in the reliability of this controller due to the new architecture and proposed fault detection mechanism. While we have not been able to actually control this robot, we have shown that some scheduling heuristics can be effectively used to provide a higher level of performance.
Identifier: 14616 (digitool), FADT14616 (IID), fau:11411 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.C.E.)--Florida Atlantic University, 1990.
Subject(s): Robots--Control systems
Automatic control--Computer programs
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14616
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.