A hardware/software environment to support R D in intelligent machines and mobile robotic systems

Conference · Mon Jan 01 00:00:00 EST 1990

OSTI ID:7067984

Mann, R C

The Center for Engineering Systems Advanced Research (CESAR) serves as a focal point at the Oak Ridge National Laboratory (ORNL) for basic and applied research in intelligent machines. R D at CESAR addresses issues related to autonomous systems, unstructured (i.e. incompletely known) operational environments, and multiple performing agents. Two mobile robot prototypes (HERMIES-IIB and HERMIES-III) are being used to test new developments in several robot component technologies. This paper briefly introduces the computing environment at CESAR which includes three hypercube concurrent computers (two on-board the mobile robots), a graphics workstation, VAX, and multiple VME-based systems (several on-board the mobile robots). The current software environment at CESAR is intended to satisfy several goals, e.g.: code portability, re-usability in different experimental scenarios, modularity, concurrent computer hardware transparent to applications programmer, future support for multiple mobile robots, support human-machine interface modules, and support for integration of software from other, geographically disparate laboratories with different hardware set-ups. 6 refs., 1 fig.

• Research Organization: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: DOE/ER
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7067984
• Report Number(s): CONF-9007134-1; CESAR-90/30; ON: DE90014458
• Resource Relation: Conference: DARPA workshop on distributed intelligent control systems, Pacifica, CA (USA), 17-19 Jul 1990
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
ARTIFICIAL INTELLIGENCE
CAMERAS
COMPUTER ARCHITECTURE
DEGREES OF FREEDOM
DISPLAY DEVICES
HYPERCUBE COMPUTERS
MAN-MACHINE SYSTEMS
MANIPULATORS
MEMORY DEVICES
NAVIGATION
ORNL
PARALLEL PROCESSING
REMOTE SENSING
RESEARCH PROGRAMS
TECHNOLOGY ASSESSMENT
COMPUTER OUTPUT DEVICES
COMPUTER-GRAPHICS DEVICES
COMPUTERS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NATIONAL ORGANIZATIONS
PROGRAMMING
REMOTE HANDLING EQUIPMENT
US AEC
US DOE
US ERDA
US ORGANIZATIONS
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers