Steve Jordan

The 3DP: a processor architecture for three-dimensional applications

The 3DP (3-Dimensional Processor), a parallel-computing architecture that targets problems that have a 3-D numerical structure and require numerous calculations on 3-D vectors, is described. The 3DP architecture differs from traditional scalar architectures in that it operates directly on vectors. It differs from general parallel architectures in that it can solve problems that predict the behavior of highly coupled systems, and it differs from vector architectures in that it runs efficiently on length-3 vectors. Object-oriented programming on the 3DP and programming the 3DP in C++ are discussed. 3DP performance is reviewed, and the current implementation of the 3DP architecture, as an attached processor that plugs directly into Sun host VMEbus, is described.<<ETX>>

Design and simulation of RIPS: an advanced robot control system

The design and simulation of RIPS, a robotic instruction processing system, are discussed. The authors are building a prototype version of RIPS which will be used as a general research tool to study problems of robot control. The architecture of RIPS is geared for robot control, yet the system is general and fully programmable and does not assume any manipulator characteristics. There is sufficient computing capacity to address any of several important automation problems such as force control, multiple manipulator coordination, or manufacturing cell-level control. Simulations show that using RIPS to control a Stanford manipulator with the computed torque method gives an update rate of 255 mu s. This simulation includes all interprocessor communication as well as the computing time necessary for equation evaluation.<<ETX>>