An operating environment for control systems on transputer networks

The article describes an operating environment for control systems. The environment contains the basic layers of a distributed operating system. The design of this operating environment is based on the requirements demanded by controllers which can be found in complex control systems. Due to the nature of real-time control systems, special attention has to be payed to an efficient implementation of the basic communication protocol and buffering method. The operating environment has been implemented and performance measurements have been carried out for several different strategies. The described operating environment which is used for robot control, will be embedded in a larger high level transputer operating syste