Accession Number : ADA327565

Title :   ControlShell: A Real-Time Software Framework.

Descriptive Note : Final rept.,

Corporate Author : STANFORD UNIV CA DEPT OF AERONAUTICS AND ASTRONAUTICS

Personal Author(s) : Cannon, Robert ; Latombe, Jean-Claude ; Schneider, Stan

PDF Url : ADA327565

Report Date : JUL 1995

Pagination or Media Count : 186

Abstract : We have created a new paradigm for building and maintaining complex real time software systems for the control of moving mechanical systems. This objective has been met through the simultaneous development of both a powerful software environment and cogent motion planning and control capabilities. Our research has concentrated on three key areas: (1) Building an innovative, powerful real time software framework; (2) Implementing new distributed control architectures for intelligent mechanical systems; and (3) Developing distribution architectures and new algorithms for the computationally 'hard' motion planning and direction problem. This research built on ControlShell, originally developed at the Stanford Aerospace Robotics Laboratory and now marketed by Real-Time Innovations, Inc. The research added fundamental new capabilities, including network-extensible data flow control to allow scalable support for distributed systems and a graphical environment to enable rapid prototyping and increased productivity. The concurrent development of this tool and experimental robotic applications was aimed at ensuring high quality architectural design and producing reusable components. The research was also aimed at developing more specific modules, mainly motion planning modules which can operate under time constraints. Since motion planning is a computationally hard problem, one cannot expect to achieve strict real time motion planning.

Descriptors :   *SOFTWARE ENGINEERING, *CONTROL SYSTEMS, *REAL TIME, *MOTION, COMPUTER PROGRAMS, ALGORITHMS, ROBOTICS, ENVIRONMENTS, DISTRIBUTION, COMPUTER ARCHITECTURE, PARALLEL PROCESSING, PROTOTYPES, AEROSPACE SYSTEMS, PLANNING, SCALING FACTOR, COMPUTER GRAPHICS, LABORATORIES, PRODUCTIVITY, REUSABLE EQUIPMENT, MECHANICAL COMPONENTS.

Subject Categories : Computer Programming and Software
      Test Facilities, Equipment and Methods

Distribution Statement : APPROVED FOR PUBLIC RELEASE