7 5 Task Structure University of Electronic Science Technology of China(UESTC) PROGRAM Push Buttons CONTROL PANEL INPUT HANDLER Panel Inputs, Start Prog CONTROL CONTROL PANEL Input PANEL INTERPRTER INPUT PROCESSOR HANDLER End Panel Outputs Stop, Resume SENSORY IO DATA STORE Lights CONTROL CONTROL Output PANEL OUTPUT Motion Block PANEL INPUT HANDLER Motion Acknowlegment HANDLER AXIS MANAGER Axis Axis Block Acknowledgment AXIS CONTROLLE R Real-Time Systems Lab LIAO Yong7 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 5 Task Structure CONTROL PANEL INPUT HANDLER CONTROL PANEL PROCESSOR INTERPRTER AXIS MANAGER AXIS CONTROLLE R CONTROL PANEL OUTPUT HANDLER CONTROL PANEL INPUT HANDLER CONTROL PANEL INPUT HANDLER Panel Inputs Panel Outputs Push Buttons Start Prog End PROGRAM SENSORY I/O DATA STORE Input Output Stop, Resume Axis Block Axis Acknowledgment Lights Motion Acknowlegment Motion Block