The compiler works as a cross compiler on the host machine. The compiler flag you must use is -cpuMIC to generate code for it. You need to have the Intel MPSS package installed and you need to set up a pair of symbolic links on your path to the MIC assembler and MIC gcc compilers. The Pascal compiler expects a MIC version of the GNU assembler to be on its path with the name mic-as and a mic version of the gcc compiler with the name mic-gcc.
At present it supports multi-core operations but does not yet exploit the new MIC SIMD instructions. We expect to release on supporting SIMD in a month or two.
There were difficulties encountered due to the absence of detailed documentation for the assembler Intel release for the chip. It was a matter of trial and error to discover its syntax. At least one bug exists in the version of the assembler we got : it generates the wrong code in one instance.
Beyond this many of the instructions that Intel introduced since the original Pentium have been deleted which caused some problems, we have had to revert for this processor to very basic IA-64 instructions. In particular there is no truncate instruction, no conditional move instructions and some restrictions on stack addressing. The absence of a truncate instruction means we have had to revert to using a subroutine for this operation.
Demonstration of the gripper functionality. The gripper is provided by flexible element which allows finger flexible moving. When the fingers touch desk of the table, the finger flexible moves back. The finger push down on the desk by force correspond to 20N / 10mm. Flexible finger allow us follow the desk of the table and grasping garment lying on the table.
The CloPeMa testbed robot arm keeps constant distance from man. The man moves in front of the robot, his position is measured by Xtion 3D range sensor and the arm is navigated to position in constant distance from recognized obstacle (man)
CloPeMa testbed robot grasping a garmetn by one gripper (arm). Man throws the piece of garment is on table, robot measures position of the piece of garment by Xtion (3D range sensor). Grasping points are detected and selected. The robot arm grasp the piece of garment using the point.