Implementing Real-Time Robotic Systems Using CHIMERA II

David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257.


Download
  • Adobe portable document format (pdf) (631KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
The CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems, is described. The CHIMERA II environment is designed to reduce the development time of applications 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.

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, "Implementing Real-Time Robotic Systems Using CHIMERA II," IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257.

BibTeX Reference
@inproceedings{Khosla_1990_2329,
   author = "David B. Stewart and Donald E. Schmitz and Pradeep Khosla",
   title = "Implementing Real-Time Robotic Systems Using CHIMERA II",
   booktitle = "IEEE International Conference on Systems Engineering",
   pages = "252 - 257",
   month = "August",
   year = "1990",
}