Parallel processing modeling for OCEANO 6000 system real-time control

The control of robotic arms requires the elaboration of a mathematical model of the manipulator but the equation complexity poses a problem in practical use. An approach based on date flow Petri nets is proposed because conventional multiprocessors built on Von Neuman's model have some important limitations and do not almost allow one to obtain the performances expected, contrarily to data flow architecture which is parallel and structurally different.<
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