The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The Chimera II has been designed as a local operating system, to be used in conjunction with a global operating system. It executes on one or more single board computers in a VMEbus-based system. Advanced sensor-based control systems are both statistically and dynamically reconfigurable. As a result, they require many special features, which are currently not found in commercial real-time operating systems. Several design issues for such systems are presented as well as the features the authors have developed and implemented as part of Chimera II. These features include: a real-time kernel with dynamic scheduling, global error handling, user signals, and two levels of device drivers; an enhanced collection of interprocessor communication mechanisms, including global shared memory, spin-locks, remote semaphores, priority message passing, global state variable tables, multiprocessor servo task control, and host workstation integration; and several support utilities, including a UNIX C and math libraries, a matrix library, a command interpreter library, and a configuration file library.

Notes

Associated Center(s) / Consortia: National Robotics Engineering Center

Associated Lab(s) / Group(s): Advanced Mechatronics Lab

Associated Project(s): Metaphor and Chimera

Text Reference

David B. Stewart, Donald E. Schmitz, and Pradeep Khosla, "The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications," IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, December, 1992, pp. 1282-1295.

BibTeX Reference

@article{Khosla_1992_2313,
   author = "David B. Stewart and Donald E. Schmitz and Pradeep Khosla",
   title = "The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications",
   journal = "IEEE Trans. on Systems, Man, and Cybernetics",
   pages = "1282-1295",
   month = "December",
   year = "1992",
   volume = "22",
   number = "6",
}

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