A shared system for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overa...

A stacked shared-gate CMOS transistor and method of fabrication are disclosed. An improved CMOS transistor is fabricated by the formation of a bulk transistor and an overlying isolated (SOI) transistor wherein each transistor is adjoined to a portion of a shared gate having the same conductivity type as the related transistor. The differential conductivity of the shared gate is obtained by the fabrication of a conductive diffusion-barrier layer intermediate to conductive layers. Improved switchi...

A switching circuit for SRAM memory cells is disclosed. The circuit electronically decouples input lines to sense amplifiers from unselected arrays of memory cells. The decoupling results in a large decrease in the amount of parasitic capacitance that the selected inputs would encounter.

A system is provided that includes a plurality of processors connected to a shared storage via an asynchronous storage interface that includes various interface logic and a ring counter that performs polling of the processors for access to the shared storage. The ring utilizes a "lookahead" feature that bypasses stages in the ring to speed up responses to request signals from the processor. The logic uses the clock from the particular processor accessing the shared memory at any point in time.

A frequency conversion system, including a time shared frequency converter and a time shared band limited amplification system, whereby a plurality of information bearing signals are commonly obtained, determined, filtered and amplified over a single path. The process admits signals whose carriers are separated by frequency or phase, and whose amplitudes are different. Synchronous and asynchronous receivers which ordinarily require dual mixers, filters and amplifiers are simplified by this inven...

A computing system constructed of multiple processing elements containing private storage, attached to a shared global storage, is called a closely-coupled system. Each processing element may be a single processing unit (PU) with private storage, or a tightly coupled multi-processor unit with private storage. Either type of processing element will be referred to as a Central Processor Complex (CPC), the computing system complex as a whole is referred to as a sysplex. IBM ESA/390 processors provi...

The architecture of a communication network comprising a plurality of nodes interconnected by a transmission facility having a bandwidth divisible into channels of respective bandwidths, e.g., optical fiber, is enhanced by fully sharing the network bandwidth among the network nodes, such that each pair of nodes, on periodic basis, dynamically establishes respective direct links to each of the other network nodes, in which a direct link is formed from a group of channels obtained from the network...

An access circuit is provided for completing a connection to an idle piece of shared call processing equipment which has a status indication circuit which indicates the busy-idle condition of the shared equipment. The access circuit shapes a request-for-service pulse which is applied thereto to permit switching components in the access circuit to definitively select a single idle piece of shared equipment to which to complete the connection and, when the idle piece of shared equipment has been s...

A computer arrangement for facilitating the sharing of information among computers at a memory level. Each computer includes means for accessing the main memory of another computer of the complex at machine word level, means for transmitting an interruption instruction from itself to the arithmetic control unit of the other computer, means for detecting a problem in the arithmetic control unit of itself, and means for altering one section of the logic address viewed from itself to some of a plur...

In a frequency tracking loop, a single voltage-controlled local oscillator produces a sequence of output signals representing the respective peak power frequencies in a recycling sequence of input signals. The oscillator output is compared to the input signals to produce a DC error signal passed to a single operational amplifier. Integrating capacitors are alternately coupled between the amplifier's input and output in a synchronized sequence corresponding to the input signals. The amplifier out...