Parallel Processing in Digital Control Book

1	Introduction	1
1.1	The Need for Parallel Processing	1
1.2	Outline of the Book	2
2	Parallel Processing and the Transputer	6
2.1	Introduction	6
2.2	Parallel Processing Computer Architectures	8
2.3	Why Use OCCAM and Transputer ?	12
2.4	The Transputer	14
2.5	Parallel Programming and OCCAM Language	18
2.6	Real-Time Control Transputer Applications	25
2.7	Summary	28
3	Parallel Algorithm Strategies	30
3.1	Introduction	30
3.2	Partitioning and Task Allocation	30
3.3	VAP Control Law	31
3.4	Mapping Strategies	33
3.5	Summary	50
4	EPICAS - An Environment for Parallel Implementation of Control Algorithms and Simulation	51
4.1	Introduction	51
4.2	EPICAS	51
4.3	MATLAB Tools for Parallel Partitioning	53
4.4	OCCAM Tools for Tasks Allocation	63
4.5	Using EPICAS for Simulation	83
4.6	Summary	89
5	Performance Issues: Granularity, Topology, Mapping Strategies	91
5.1	Introduction	91
5.2	Measuring Parallel Processor Performance	91
5.3	Processor Farm Performance	96
5.4	Processor Star Performance	108
5.5	Granularity Issues	111
5.6	Summary	130
6	Concluding Remarks	132
6.1	General Review	132
6.2	Future Work	134
6.3	Summary	138
	References	139
	Index	145