Publication Date:
2019-08-28
Description:
A shared memory multiprocessor architecture is used to develop a parallel fault-tolerant robot controller. Several versions of the robot controller are developed and compared. A robot simulation is also developed for control observation. Comparison of a serial version of the controller and a parallel version without fault tolerance showed the speedup possible with the coarse-grained parallelism currently employed. The performance degradation due to the addition of processor fault tolerance was demonstrated by comparison of these controllers with their fault-tolerant versions. Comparison of the more fault-tolerant controller with the lower-level fault-tolerant controller showed how varying the amount of redundant data affects performance. The results demonstrate the trade-off between speed performance and processor fault tolerance.
Keywords:
CYBERNETICS
Type:
In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54); p. 251-261.
Format:
text
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