Michael Holdgaard, T. Eriksen, A. Ravn, T. Andersen
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A distributed implementation of a mode switching control program
A distributed implementation of a mode switched control program for a robot is described. The design of the control program is given by a set of real-time automatons. One of them plans a schedule for switching between a fixed set of control functions, another dispatches the control functions according to the schedule, and a final one monitors the system for exceptions that shall lead to a halt. The implementation uses four transputers with a distribution of phases of the automatons over the individual processors. The main technical result of the paper is calculations that illustrate how to justify that the implementation meets real-time constraints.
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