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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Stewart, D.B. Schmitz, D.E. Khosla, P.K. |
| Copyright Year | 1990 |
| Description | Author affiliation: Carnegie Mellon Univ., Pittsburgh, PA, USA (Stewart, D.B.; Schmitz, D.E.; Khosla, P.K.) |
| Abstract | A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time 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. |
| Starting Page | 598 |
| Ending Page | 603 |
| File Size | 754981 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818690615 |
| DOI | 10.1109/ROBOT.1990.126047 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-13 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Real time systems Robot sensing systems Hardware Programming environments Operating systems Application software Kernel Processor scheduling Robot control Robot programming |
| Content Type | Text |
| Resource Type | Article |
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