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Chimera Ii : A Real-Time Unix-Compatible Multiprocessor Operating System For Sensor-Based Control Applications, David B. Stewart, Donald Schmitz, Pradeep K. Khosla
Chimera Ii : A Real-Time Unix-Compatible Multiprocessor Operating System For Sensor-Based Control Applications, David B. Stewart, Donald Schmitz, Pradeep K. Khosla
Pradeep K Khosla
Abstract: "This paper describes the CHIMERA II multiprocessing operating system, which has been developed to provide the flexibility, performance, and UNIX-compatible interface needed for fast development and implementation of parallel real-time control code. The operating system is intended for sensor-based control applications such as robotics, process control, and manufacturing. The features of CHIMERA II include support for multiple general purpose CPUs; support for multiple special purpose processors and I/O devices; a UNIX-like environment, which supports most standard C system and library calls; standardized interrupt and exception handlers; and a user interface which serves as a terminal interface to the executing …