The Segmented Bus: A Dynamically Segmentable Interprocessor Communication Network For Intelligent Mobile Robot Systems.
Journal
IEEE International Conference on Intelligent Robots and Systems
Journal Volume
1
Pages
309-316
Date Issued
1992
Author(s)
Abstract
We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.
SDGs
Other Subjects
Buses; Computer hardware; Data transfer; Dynamic models; Memory architecture; Message passing; Network architecture; Telecommunication networks; Communication locality; Communication pattern; Computational demands; Dynamic re-configuration; Intelligent mobile robot system; Intelligent robot controls; Inter-processor communication networks; Message communication; Intelligent robots
Type
conference paper