• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.397-400
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• 1992

Many dynamic control have been proposed; however, most of them are limited within stage of simulation study. The main reason is that the computations required for inverse dynamics are far beyond the ability of the present commercially available microprocessors. In this paper, In order to achieve real-time processing in robot dynamic control, a parallel processing computer for robot dynamic control is implemented using two transputer. Two transputer compute two degree of freedom robot. The transputer is a special purpose MPU for parallel processing. Transputers are used in networks to build a high performance concurrent system. A network of transputers and peripheral controllers is constructed using point-to-point communication. To gain most benifit from the transputer architecture, the whole system is programmed in OCCAM which is a high level language for concurrent applications. This control algorithm is applied to the RHINO SCARA type manipulator. We could taked about 438.6 microseconds to compute robot dynamic with two-processors.

• Proceedings of the KIEE Conference
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• 1993.11a
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• pp.296-298
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• 1993

The performance of MODEL-BASED controller is influenced by model parameter errors and velocity measurement errors. To reduce this errors, Control methods by parameter adaptation and velocity estimation are studied. But because these controller has complex construction and need much computation time, the implementation of single processor system is difficult. This paper proposes a control scheme which combines an adaptive control law with a sliding observer using transputer network.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.5
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• pp.468-473
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• 1992

A boundary element analysis using parallel algorithm on transputers is described for three-dimensional magnetostatic field computations. The parallel algorithm are applied to assembling the system matrix and solving the matrix equation. Through the numerical results, it is shown that the computation time is ideally inverse proportional to the number of transputers, and the computational efficiency increases as the size of the system matrix becomes large. The easiness and simplicity in configuring the system hardware and making programs and computation times are compared in three kinds of topologies.

• Journal of Biomedical Engineering Research
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• v.17 no.4
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• pp.459-468
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• 1996

This paper considers the problem of realising a parallel EMG identifier used in FES (functional electrical stimulation) system on a fixed dimension transputer array. This involves using an identifiestion algorithm in the wavelet transform domain. This algorithm have suggested by the authors in a previous paper(6). The transputer serial links permit higtlly varied and economic network-type connections and the structure enables rapid topological reconfiguration. Analysing the results Showed that the Speed-UPS ranged from 1.82 to 3.44 With 2-4 transputers for corresponding model order, and from 1.82 to 3.97 with increasing the model orders when two and four transputers are used respectively.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.4
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• pp.1-11
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• 1992

A parallel computer "KAPAC(KAIST Parallel Computer)" based on Transputer is designed and implemented. Its purpose is to support the real time processing and high perfomance computing through parallelizing the complex and heavy computation load. KAPAC has UNIX machine as host-computer and is implemented on VME bus as back-end machine. The parallel computer "KAPAC" is the message-passing loosely-coupled multiprocessor computer having thirty two processing elements, and the network topology between processing elements can be easily configured with the crossbar switchs using the control program. Various topologies are introduced and appoication programs are executed on the parallel computer "KAPAC" with eifferent interconnection topologies to show the reconfigurability.to show the reconfigurability.

• The Transactions of the Korea Information Processing Society
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• v.6 no.2
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• pp.485-496
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• 1999

Comparing with sequential programming, parallel programming has additional complexity due to the consideration of parallelism, communication and synchronization of processes. A synergism between users and compliers should be established, each assisting the other to produce high quality parallel programs. On the above underlying philosophy, we developed a parallel Object-Oriented specification language, POOSL, as preliminary works. However, it is still likely to hard for users to write parallel program because users have to consider grammar of POOSL and to write text-based parallel program. It would be more desirable to provide users wit visual environment for effective parallel programming. Therefore, we propose a visual programming environment. VEPO(Visual environment for Parallel Object-Oriented Programming), based on POOSL in order that users can develop parallel programs more easily and conveniently. It aims at supporting a programming environment in which users can represent their programs more naturally and visually I parallel manner with object-oriented concept and essential steps during parallel program development such as program specification, compilation, execution and animation of execution are integrated. VEPO has useful features for parallel processing. Especially, complicated parallel codes for synchronization and communication of processes are automatically generated in the translation phase, so users can be relieved of writing error-prone parallel codes. The system is targeted to the transputer-based parallel system, MC-3. The graphic user interface of VEPO was implemented using Visual C++. Visual programs descirbed on VEPO are translated into Inmos C and executed on MC-3.