The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The CHIMERA II multiprocessing environment has been developed for use in a wide variety of sensor-based robot systems. It provides the flexibility, performance, and Unix-compatible interface needed for fast development of a real-time control code. The features of CHIMERA II include support for multiple general purpose CPUs; support for multiple special purpose CPUs and I/O devices; a real time multitasking kernel; user definable and dynamically selectable real-time schedulers; transparent access to a host file system; generalized and efficient interprocess and interboard communication; remote process synchronization; standardized interrupt and exception handlers; Unix-like environment, which supports most standard C system and library calls; support for hierarchical and horizontal control architectures, such as NASREM; and a user interface which serves to download, monitor, and debug code on any processor board and serves as a terminal interface to the executing code.

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, "CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control," Proceedings of the IEEE International Symposium on Intelligent Control, September, 1989, pp. 265-271.

BibTeX Reference

@inproceedings{Khosla_1989_2335,
   author = "David B. Stewart and Donald E. Schmitz and Pradeep Khosla",
   title = "CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control",
   booktitle = "Proceedings of the IEEE International Symposium on Intelligent Control",
   pages = "265-271",
   month = "September",
   year = "1989",
}

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