Current Search: Zhang, Ruiguang. (x)
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Title
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A parallel and reliable robot controller system.
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Creator
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Zhang, Ruiguang., Florida Atlantic University, Fernandez, Eduardo B., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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In recent years robots have become increasingly important in many areas. Along with the development of robot-arm control theory, there has been an increased demand for faster and more reliable control systems. In this thesis, a parallel technique is applied to all of the units of a robot control system. Also, software fault-tolerance mechanisms such as timeout, conversation, exception handling, and their Occam implementations, are considered. A simulation study shows that pipelining, together...
Show moreIn recent years robots have become increasingly important in many areas. Along with the development of robot-arm control theory, there has been an increased demand for faster and more reliable control systems. In this thesis, a parallel technique is applied to all of the units of a robot control system. Also, software fault-tolerance mechanisms such as timeout, conversation, exception handling, and their Occam implementations, are considered. A simulation study shows that pipelining, together with a multiprocessing system, increases the performance of this real-time system, and it is a convenient way to speed up robot controller execution. While we have not evaluated the increase in reliability, we have shown that these fault tolerance mechanisms can be conveniently implemented in this type of application.
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Date Issued
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1989
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PURL
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http://purl.flvc.org/fcla/dt/14566
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Subject Headings
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Control theory, Robots--Programming
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Format
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Document (PDF)
