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Ii1termetri Es ~(PGES)(CODE) ATNR) (CATEGORY) II1TERMETRI ES N4ATIOA EHIA FOATONSpigilV.22151 SERVICE Final Report Multiprocessor Computer System Study By James S. Miller, Daniel J. Lickly, Alex L. Kosmala, and Joseph A. Saponaro March 1970 Prepared under Contract NAS 9-9763-by INTERMETRICS, INC. 380 Green Street Cambridge, Massachusetts 02139 The publication of this report does not constitute approval by the NASA of the findings or the conclusions contained herein. It is published for the exchange and stimulation of ideas. FOREWORD This document is the final report of an engineering study of Multiprocessor Computer Systems, and the development of multiprocessor theory and problems related to the proposed space station and space base data management systems. This research was sponsored by the National Aeronautics and Space Administration Manned Spacecraft Center, under contract NAS 9-9763, and performed by Intermetrics, Inc., Cambridge, Massachusetts. Dr. James S. Miller was the Technical Director of the effort. The study program covered the period from June 27, 1969 through March 27, 1970. Mr. James P. Ledet (EB6) of the Manned Spacecraft Center, was Technical Monitor ii Table of Contents Chapter 1. Study Objectives and Terminology 1.0 Introduction 1 1.1 Background 1 1.2 Objectives of the Study 2 1.3 Introduction to Computer Architecture 3 Chapter 2. Survey of Multiprocessor and Multicomputer Systems 2.0 Introduction 19 2.1 Burroughs D825 System 19 2.2 IBM Direct-Coupled System (DCS) and IBM 360 Attached Support Processor (ASP) 20 2.3 Control Data 6600 and 7600 21 2.4 Univac 1108 22 2.5 IBM System/360 Model 65 Multiprocessor 24 2.6 IBM 9020 26 2.7 Univac AN/UYK-7 and 1832 28 2.8 General Electric 645 29 2.9 Honeywell Model 8200 31 2.10 Burroughs 6500 32 2.11 IBM System/360 Model 195 34 2.12 Control Data STAR Computer 36 2.13 Hughes 4400 37 2.14 Safeguard Central Logic and Control Computer 38 2.15 IBM 4-Pi Model CP-2 39 2.16 IBM 4-Pi EP/MP Computer 40 2.17 Litton L304, 305, 3050, 3070 42 2.18 ERC EXAM Computer .43 2.19 MIT/IL ACGN Computer 44 2.20 ERC-Hamilton Standard Modular Computer 47 2.21 MIT/IL SIRU Computer 49 2.22 JPL STAR Computer 51 2.23 RCA 215 53 2.24 Control Data ALPHA 55 2.25 Litton IRAD 56 2.26 Burroughs Interpreter Computer 57 2.27 U. S. Navy NAVAIR AADC 57 2.28 SOLOMON 58 2.29 ILLIAC IV 59 Chapter 3. Design Considerations 3.0 Introduction 61 3.1 Configuration Considerations 61 3.2 Trade-off Considerations 66 3.3 System Organization for Reliability 70 iii 3.4 Elementary Reliability Based on Queueing Theory 74 3.5 Segmentation and Paging 85 3.6 Processor Interrupts 93 3.7 Stacks 95 3.8 Microprogramming 97 Chapter 4. System Design Guidelines and Constraints 4.0 Introduction 101 4.1 General Space Station Subsystem Requirements 101 4.2 Performance Requirements 102 4.3 Physical Requirements 105 4.4 Reliability 106 4.5 Information & Display 107 Chapter 5. Selected Multiprocessor Design Configuration 5.0 Introduction 117 5.1 Configuration Summary 117 5.2 Buffer Memory 120 5.3 Processor 123 5.4 Segmentation, Paging, and Level-2 Memory 124 5.5 Level-3 Memory 126 5.6 Data Transmission 127 5.7 Error Detection 130 5.8 Operating System Philosophy 132 5.9 Word-length, Protection, and Flag Bits 134 5.10 I/O and Interrupt Structure 138 Chapter 6. Summary and Recommendations 6.0 Introduction 141 6.1 Technology Trends 141 6.2 Recommendations for Future Effort 144 6.3 Conclusion 147 Appendix A. Survey of Paging and Segmentation Characteristics of Computer Systems A.1 Control Data 3300 149 A.2 Control Data 3800 149 A.3 XDS Sigma 7 149 A.4 RCA Spectra 70/46 150 A.5 Burroughs 5000/5500 150 A.6 GE 645, and Multics 151 A.7 IBM System/360 Model 67 152 Appendix B. Physical Characteristics 153 Appendix C. Additional Bibliography 159 iv Chapter 1 Study Objectives and Terminology 1.0 Introduction Multiprocessor and multicomputer systems are being proposed for advanced manned space applications, including the space station and space base programs. Since the applications of systems of this type are relatively recent and not uniformly successful, the Manned Spacecraft Center has undertaken an analysis and extension of this technology. This document contains the results of a study of multiprocessor computer systems, related theory, and potential problems associated with implemen­ tation of such a system in a space station Data Management System (DMS). This report is presented in six chapters. This chapter presents the background and objectives of the study, and a review of terminology involved. Chapter 2 presents the relevant results of a survey of existing multiprocessor flight and ground­ based systems. Chapter 3 presents design considerations which are relevant to the architectural configuration of the data management computer system. Chapter 4 discusses the major design guideline constraints and requirements applicable to the system. Chapter 5 presents the architectural design of a multiprocessor computer system capable of satisfying the requirements. Chapter 6 presents recommendations for future work in the areas of technology and design. 1.1 Background Among the next generation of space vehicles are to be craft which closely resemble earth-based scientific facilities. Earth orbital spade stations and bases are being defined as facilities which can support operational and experimental equip­ ment on a long-term basis of about ten years. An earth-orbiting space laboratory housing 12-50 men has been proposed by NASA for implementation in the 1975-1980 period. The space station and the subsequent space base program will introduce a new, more routine mode of space operations than has characterized past programs. The station will exploit the unique features provided by its location in low earth orbit (200-300 km; inclinations of 28.50 to 550) for rapid earth viewing and unobstructed celestial viewing, and will allow scientists and engineers to pursue a wide variety of research and application activities on board. It is also currently envisioned that men and-equipment will be ferried between these stations and the ground in a reusable Advanced Logistics System (ALS) shuttle vehicle. Obviously, to achieve these goals, many of the functions previously accomplished on the ground will be 1 performed on board the base, allowing it quite autonomous operation. Part of the on-board Data Management System will be a computer system capable of supporting all required mission opera­ tions. Existing space-qualified information processing equipment lacks the capacity and flexibility to satisfy the diversified space station/base data management requirements.(1) The current inventory consists primarily of dedicated hardware designed for specific applications. Various government and industry programs are developing technology and hardware applicable to the space station data management requirements. Anticipated advancements in electronic technology indicate that much can be done over the near future to improve reliability, weight, power, and volume of flight hardware. Included within this scope are multicomputer and multiprocessor computer systems, which are being proposed as candidates for the space station/base DMS since they seem to offer the reliability, expandability, and modular features required. 1.2 Objectives of the Study The principal objectives of this study were threefold: a) Collect and analyze available existing knowledge concerning actual and proposed multiprocessor system design, utilization and communication techniques. b) Incorporate this knowledge in a generalized multiprocessor theory that establishes a baseline definition of the various system configurations and problems as defined to the present date. c) Expand multiprocessor computer system theory to include the system and communication problems that would be encountered in the DMS application. The methodology used to accomplish these objectives began with a survey of the state of art of multiprocessor and multi­ computer systems. Twenty-nine ground based and airborne systems were reviewed and information collected as to their current status, architecture and organization, principal features of hardware and software, problem areas, and applications. In conjunction with this task, basic definitions and elementary concepts in computer architecture and memory technologies were documented. Several basic multiprocessor configurations were analyzed in terms of their applicability to the expected space station requirements, and in particular their reliability and expand­ ability. After a preliminary analysis of these approaches, a parallel effort was established to examine some of the basic design considerations and tradeoffs in multiprocessor systems. 2 This included an analysis of reliability, memory paging and segmentation, interrupt schemes, display concepts, stack, micro­ programming, and storage protection. To embody the knowledge gained from the survey, extension of multiprocessor design, and projection of hardware capabilities, a system design was prepared. While confined largely to the organizational level, this design satisfies the requirements presently envisioned for the orbiting laboratory program. The text of this report generally refers to the space station/base application as simply the space station,, to eliminate redundancy. However, it is believed that the computer systems for both should differ in scale only, and therefore the material presented herein is intended to be applicable to both. 1.3 Introduction to Computer Architecture This section is included in this report to define some of the language used in present-day descriptions of computation systems. The vocabulary and usage described are intended to represent a majority opinion from the computer industry. In places where such a majority does not exist or is not very sub­ stantial, alternate descriptions are provided. This approach tends to discourage any attempt at rigorous or strict treatment of the subject; indeed, some areas have been left somewhat imprecise. However, it is believed that the basic concepts can be presented clearly and briefly by use of simple language and examples.
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