In our approach for developing heterogeneous control systems, we have developed a real-time A/D D/A board called "the Raptor". The Raptor communicates over high speed and highly reliable DS-links (IEEE-1355). To obtain highly accurate analogue conversions, the A/D and D/A converters have a 12-bit resolution. We measured a maximum sampling frequency of 90.5 kHz on each A/D channel. For communication with the rest of the control environment, two 100 Mbit/s DS-links are available. The Raptor forms a part of a heterogeneous multiprocessor closed-loop control environment. This new environment can be used, amongst others, for controlling heavy robot applications. The work on this environment takes place in scope of the JavaPP (Java Plug & Play) project. The software will be developed together with the CJT-library that provides inherent object-oriented and parallel design patterns, according to the CSP paradigm, in Java.
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机译：在开发异构控制系统的方法中，我们已经开发了一个称为“ Raptor”的实时A / D D / A板。猛禽通过高速和高度可靠的DS链接（IEEE-1355）进行通信。为了获得高精度的模拟转换，A / D和D / A转换器具有12位分辨率。我们在每个A / D通道上测得的最大采样频率为90.5 kHz。为了与其余控制环境进行通信，可以使用两个100 Mbit / s DS链接。猛禽构成异构多处理器闭环控制环境的一部分。除其他外，该新环境可用于控制重型机器人应用程序。在JavaPP（Java即插即用）项目的范围内进行此环境的工作。根据Java的CSP范例，该软件将与CJT库一起开发，该库提供固有的面向对象和并行设计模式。
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