🚀 go-pugleaf

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		      Transputer Board Set For
		  Real-Time Digital Motion Control.
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The Yale Robotics Laboratory has been using the INMOS Transputer  family
for  real-time  motion  control  applications  for  two  years.  We have
developed, as a tool  for  the  laboratory,  a  control  node  which  is
computationally  powerful and also accommodates the specific device-I/O,
electrical  isolation,  and  prototyping  demands  of  real-time  motion
control development.

Our design objectives were the following:

	1.  Floating Point >= 1 Megaflop/Node.
	2.  Simple inter-node I/O for distributed architectures.
	3.  Fast I/O bus for local devices or ASICs.
	4.  Mature development environment.
	5.  Low cost.

The Transputer was our cpu choice; its unique hardware satisfies items 1
and 2.  The INMOS TDS meets  the  needs  of  item  4.   Integrating  the
transputer into a compact board set provides for items 3 and 5.

Specifically, the boards provide for the following:

      Motherboard:
	 - Single extended eurocard form factor (small.)
	 - Support for one T4/T8.
	 - 128K byte fast static ram.
	 - Power and link connections compatible with INMOS products.
	 - Fiber optic link support. User configurable.
	 - Full bus connection to I/O board.

      I/O Board:
	 - Single extended eurocard form factor; piggy-back on motherboard.
	 - Fully buffered and latched bi-directional I/O bus interface.
	 - Memory mapped bi-directional control lines for device control.
	 - Cpu interrupt.
	 - Prototyping area.
	 - Bus-rate ASIC interface option.
	 - Separate analog and digital power distribution, various voltages.


We  will  be happy to send copies of a paper, which we are presenting at
the OUG, to interested parties.  Please send us your postal mail address.


     ARPA:    whitcomb%kobot.decnet@yale-venus
   BITNET:    whitcomb%kobot.decnet@yalevms
U.S. MAIL:    Louis L. Whitcomb
	      Yale Robotics Laboratory
	      Department of Electrical Engineering
	      2157 Yale Station
	      New Haven, Ct 06520-2157