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Generating multiprocessor implementations of robotics algorithms from task precedence graphs

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2 Author(s)
Reeves, L.A. ; Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, Ont., Canada ; Farooq, M.

In complex control systems, a single processor is often inadequate to meet real-time deadline demands. A decrease in processing time can be attained by decomposing the algorithm into portions which can run concurrently on a multiprocessor. Implementing an algorithm for a multiprocessor operating system can be arduous and time-consuming; a change to multiprocessor or to the decomposition of the algorithm may require that large portions of the implementation be completely re-written. In this paper we present a utility to graphically model a process or algorithm as a directed, acyclic graph of nodes. The calculations which each node are to perform can then be entered by a programmer. The utility determines a node-to-processor allocation, then combines the node calculations allocated to each processor, and generates all initialisation and inter-node communications code. We present this utility as a tool for investigating multiprocessor multi-tasking algorithms, with application to robotics and control processes. Results of processes which have been so modelled are given

Published in:

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Date of Conference:

15-19 Nov 1993