Digital Filtering with the iAPX 86/20

The iAPX 86/20 (8086 with the 8087 numeric coprocessor) is considered for digital filtering. The advantage in using the iAPX 86/20 lies in the 80-bit width of the 8087 floating-point arithmetic-registers. With such large arithmetic registers, the effects of coefficient roundoff and arithmetic roundoff errors on the filter output are reduced. The price paid for the improved numerical performance is the increased time spent by the system moving data to and from memory. The method of Knowles and Olcayto for measuring the effect of coefficient roundoff is studies in detail. This method is applied to an example filter in order to demonstrate that the iAPX 86/20 can meet filter specifications that the 8086 without the numeric coprocessor (iAPX 86/10) cannot meet

RFMS Software Reference Manual

This manual explains the software of the Robot Force and Motion Server (RFMS), a high performance robot control system designed and implemented in the GRASP laboratory. In this system, the robot manipulator is considered a force/motion server to the robot and a user application is treated as a request for the service of the manipulator. The user application is created on one of the Unix/VAX machines in \u27C\u27 programming language as a set of function calls. The application is carried out in a multi-processor controller, which consists of Intel single board computers and provides computing power necessary for computationally intensive tasks. The VAX machine and the Intel controller communicate through Ethernet, a local area network, which also allows interaction between the user and sensors. Design principles of the system can be found in Section 2

Multiprocessor design for real-time embedded systems

Multiprocessor design for real-time embedded system

Self-tuning digital controllers for servo systems

Adaptive self-tuning systems have been the subject of a great deal of research effort in recent years. Practical applications have lagged behind such work, in the main being applied in the process industries. Few serve applications have been reported, the wide bandwidths and demanding performance specifications raising problems not found in the process world. The research project described here is concerned with the use of self-tuning digital controllers applied to servo systems, specifically an electro-mechanical actuation unit. Practical limitations, such as stiction, friction and velocity saturation effects are taken into account. [Continues.

Functional partitioning of multi-processor architectures

Many real-time computations such as process control and robotic applications may be naturally distributed in a functional manner. One way of ensuring good performance, reliability and security of operation is to map or distribute such tasks onto a distributed, multi-processor system. The time-critical task is thus functionally partitioned into a set of cooperating sub-tasks. These sub-tasks run concurrently and asynchronously on different nodes (stations) of the system. The software design and support of such a functional distribution of sub-tasks (processes) depends on the degree of interaction of these processes among the different nodes. [Continues.

A Distributed System for Robot Manipulator Control

This is the final report representing three years of work under the current grant. This work was directed to the development of a distributed computer architecture to function as a force and motion server to a robot system. In the course of this work we developed a compliant contact sensor to provide for transitions between position and force control; we have developed an end-effector capable of securing a stable grasp on an object and a theory of grasping; we have built a controller which minimizes control delays, and are currently achieving delays of the order of five milliseconds, with sample rates of 200 hertz; we have developed parallel kinematics algorithms for the controller; we have developed a consistent approach to the definition of motion both in joint coordinates and in Cartesian coordinates; we have developed a symbolic simplification software package to generate the dynamics equations of a manipulator such that the calculations may be split between background and foreground

Autonomous Attitude Determination System (AADS). Volume 1: System description

Information necessary to understand the Autonomous Attitude Determination System (AADS) is presented. Topics include AADS requirements, program structure, algorithms, and system generation and execution

The Courier, Volume 23, Issue 1, October 6, 1989

Stories: New Computer Center Completed By Next Fall CD Out Of English 101 Classes Laziness Causes Parking Hassles CD Participates In The Rally To Save The Earth Despite The Courier\u27s Suggestion, CD\u27s Drug Center Is Now Closed WDCB Gives Listeners A Broad Array Of Music Outstanding Faculty Honored By CD People: Bob Seaton Marianne Berger George Macht Franklin Hester Marguerite Zeme

Independent- Sep. 1, 1989

https://neiudc.neiu.edu/independent/1027/thumbnail.jp

The Courier, Volume 23, Issue 2, October 13, 1989

Stories: Four CD Students Charged In \u27Joke\u27 Against SG Directors Computer Thief Caught Increase In Enrollment Forces Classes To OCC Cadets Shake Stigma With New Job Title People: Werner Krieglstei