ROSES, a robot operating system expert scheduler: Methodological framework

Technical Report · Wed Aug 01 04:00:00 EDT 1990

DOI:https://doi.org/10.2172/7052380· OSTI ID:7052380

Halbert, E C; Barhen, J; Chen, P C

The optimal scheduling of tasks among which complex interrelationships (such as precedence constraints) may exist is essential for driving the new generation of concurrent supercomputers to their utmost performance. To address this need, the project ROSES (Robot Operating System Expert Scheduler) has been initiated at the Oak Ridge National Laboratory's Center for Engineering Systems Advanced Research. The project, its method for optimizing schedules, and its implementing computer code are each called ROSES. The problem of finding optimum schedules is explosive in complexity (i.e., NP-complete). By combining heuristic techniques, graph-theoretic algorithms, and sophisticated data structures, ROSES achieves near-optimal solutions in a highly efficient manner both with respect to computer time and memory-space. In this report, the description of the methodology is followed by an overview of the ROSES computer code, including detailed outlines of selected algorithms. In addition, this report describes an application of ROSES to schedule inverse dynamics computations for a robot manipulator. 45 refs., 9 tabs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOE/ER
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7052380
• Report Number(s): ORNL/TM-9987; ON: DE90014782
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
990200* -- Mathematics & Computers
ALGORITHMS
BENCHMARKS
COMPUTER ARCHITECTURE
COMPUTER CODES
EQUIPMENT
EXPERT SYSTEMS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
PARALLEL PROCESSING
PROGRAMMING
R CODES
REMOTE HANDLING EQUIPMENT
ROBOTS