A hardware/software environment to support R D in intelligent machines and mobile robotic systems
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., TN (USA)
- Sponsoring Organization:
- DOE/ER
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 7067984
- Report Number(s):
- CONF-9007134-1; CESAR--90/30; ON: DE90014458
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ARTIFICIAL INTELLIGENCE
CAMERAS
COMPUTER ARCHITECTURE
COMPUTER OUTPUT DEVICES
COMPUTER-GRAPHICS DEVICES
COMPUTERS
DEGREES OF FREEDOM
DISPLAY DEVICES
EQUIPMENT
HYPERCUBE COMPUTERS
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MEMORY DEVICES
NATIONAL ORGANIZATIONS
NAVIGATION
ORNL
PARALLEL PROCESSING
PROGRAMMING
REMOTE HANDLING EQUIPMENT
REMOTE SENSING
RESEARCH PROGRAMS
ROBOTS
TECHNOLOGY ASSESSMENT
US AEC
US DOE
US ERDA
US ORGANIZATIONS