The Dependable Responsive Multithreaded Processor for Distributed Real-Time Systems

摘要

This article illustrates the design and implementation of the Dependable Responsive Multithreaded Processor (D-RMTP) for distributed real-time systems, especially humanoid robots. Paper presents a humanoid robot Kojiro. Kojiro's controllers are currently implemented by using the 16-bit H8 microprocessor with a USB network. We are planning to replace them with the D-RMTPs with responsive link network to improve dependability, so that the small controllers with the D-RMTPs are embedded at every joint of the robot and are interconnected via a real-time network called responsive link for distributed control. Therefore, the D-RMTP is designed to meet severe requirements in terms of footprint, latency, scalability, and dependability. The dependable responsive multithreaded processor (D-RMTP) applies priority-based control to all computation and communication levels. it also implements a hardware-based logging mechanism and errorcorrecting code (ECC) for improving dependability. the system on a chip (SOC), memory modules, and thermal and voltage sensors are integrated into the system in a package (SIP).