Abstract
HEDRA, ESPRIT project (nr. 6768), aims to develop a heterogeneous distributed real-time architecture for robot and machine control. This paper describes an open and flexible programming system, as a part of this architecture, that is based on an existing system called VIRTUOSO. The programming system is an evolution of Virtuoso towards the aimed architecture. The work concentrates on the achievement of guaranteed real-time behavior, minimum interrupt latency and transparency of interprocessor data communication.
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