On-Line Data-Acquisition Systems in Nuclear Physics, 1969: ON CHARACTERISTIC FEATURES OF COMPUTERS

On-Line Data-Acquisition Systems in Nuclear Physics, 1969, by H. W. Fulbright et al. National Research Council is part of the HackerNoon Books Series. You can jump to any chapter in this book here. Chapter 1: ON CHARACTERISTIC FEATURES OF COMPUTERS AND RELATED EQUIPMENT

The value of any feature depends on its need in the application involved; therefore detailed, absolute statements regarding each characteristic usually cannot be made. However, the Panel has discussed various features at some length, and we present here some general comments on the pros and cons of these features. Among the items discussed are some, such as word length and cycle time, that represent basic, inherent properties of the computer; while a great many others, such as priority interrupts, are customarily offered as options.

The shorter the word length the cheaper the hardware, generally speaking, but the less the accuracy in calculations unless multiple precision is used. For example, although the 12-bit words of the PDP-8 match the accuracy of data from most ADC's, they are too small not to match the output data from most counters; furthermore, indirect addressing is often required because a single word is too short to include both the operation code and the absolute address of a memory location.

Apart from addressing considerations, a 12-bit word is too small for many uses, e.g., in general-purpose pulse-height analyzer applications where 16 bits or, better, 18 bits should be considered a minimum. Fortran programs for numerical calculations are in general best run on machines having at least 32-bit words, although 24-bit words are usually acceptable here when double precision can be used.

In general the more words that a system can retain the better; but the greater the memory, the greater the expense. The cost must be weighed against the need. For simple handling of data, a 4k memory may be adequate, but in a large shared-time general-purpose machine a 16k or greater memory is essential. In the latter case, the resident shared-time monitor will probably occupy at least 6k of the memory, so with a 16k memory only 10k would be left accessible to users, and experience has shown that this much can be taken up completely by one user compiling a Fortran IV program. A 4k memory is adequate for many process-control applications, but it is too small for many other applications such as general-purpose pulse-height analyzer use, where an 8k memory is highly desirable. Adding a supplemental rotating memory device (disk or drum), at a cost per word about 1 percent that of core storage, is often preferable to adding core memory. 

For most purposes the typical memory cycle time of 1 to 2 µsec is quite adequate. Some of the modern computers have cycle times under 1 µsec.

These allow sequential depositing of digital data from external devices directly into blocks of computer memory without intervention of the central processor (direct memory access, DMA). Such input may require only one computer cycle per word, that being the next cycle after the one during which the interrupt signal arrives. This is the fastest means of getting data into memory, but it requires more external hardware and more complex interfacing than input through an accumulator of the central processor. Most data-acquisition machines provide both possibilities. Direct data channels can be valuable for interfacing to magnetic disks, drums, and tapes.

These can be very useful. They may cost as little as $125 each, depending on the machine, and can be used to reduce greatly the overhead running time losses of the computer. In complicated data-taking applications many interrupt lines are desirable; 8 to 16 priority levels are generally adequate. The usual Fortran compiler cannot compile programs that respond properly to interrupts, although a relocatable object code generated by the compiler can always be assembled with a machine-language subroutine designed to handle interrupts. Enlargement of Fortran compilers for data-acquisition use to include statements designed to handle interrupts is desirable.

Magnetic media—drums, disks, and standard magnetic tapes—are employed here. DEC tapes are useful and reliable, but they have only a small capacity. The use of such microtapes is also limited by their incompatibility with typical computer-center equipment. Reliable, inexpensive incremental magnetic tape units are now available which can be operated asynchronously at about 300 Hz, too slow for many purposes. Some of them can also be run much faster in a synchronous mode. Drums and disks are highly desirable because they provide program-controlled rapid access to great volumes of data.

Typically, access times are of the order of 17 µsec. In the past few years, good and inexpensive disks have been developed which are now on the market. Some suppliers are IBM, CDC, Datadisk, Burroughs, DEC, and SDS. Disk storage is cheaper per word than core storage by two orders of magnitude; therefore, it is preferable for applications where data can be organized serially and where access and transfer time requirements can be relaxed somewhat. For example, a small DEC disk system for the PDP-8 holds up to 128k 12-bit words and has an average access time of 17 µsec and a transfer rate of 16,000 12-bit words per sec. It costs $6000 for the first 32k of capacity, plus $3000 for each additional 32k, including interfacing through the direct data channel.

Larger and faster versions are available. Disks (or drums) should be important in future systems. Magnetic tapes of the IBM-compatible type are valuable, especially for communication with machines at computing centers, but tape drives and interfacing are usually expensive. It often costs $25,000 or more to get a single tape drive in service, although the next few are usually less expensive. The cheapest tape drives available cost about $5000. The cost of interfacing depends greatly on the particular computer. It may be as little as $5000, but it is often in the neighborhood of $15,000 or $20,000.

Because they provide immediate access, the most satisfactory program storage media are magnetic disks and drums, followed by the IBM tape. The most satisfactory cheap device for input of programs is the high-speed, punched-tape reader, but the advantages of using small "cartridge-type" magnetic tapes have recently been emphasized. Recently, card readers have appeared which are much cheaper than the older IBM models. They can read 200-300 cards per minute. They cost about $2000 plus interfacing. Examples: Soroban, General Devices, Uptime.

A simple means of restoring the basic loader program (other than toggling!) is desirable. Many computers have this feature, e.g., the IBM 360 series; the SDS Sigma 2, Sigma 5, and 910 PDP-9.

Hardware memory protection is necessary in multiprogram systems. It is very helpful in any machine with a batch-processing resident monitor and in other special situations.

This feature is useful for purposes as detecting memory failures, but it is usually not worth its cost in computer speed and in capital investment in the case of a small system.

This is a big subject, partly because the organization of computers for input and output of data varies with the manufacturer. Some computers such as the Hewlett-Packard and the DEC models are especially easy to interface, whereas the automatic channels of the SDS Sigma computers and the ordinary IBM machines (e.g., the 360 series) are very difficult. The IBM machines require an expensive control unit. It is said that before a competent engineer could order plug boards for Sigma interfacing he would have to study the system for a month or two. However, once interfaced, these machines permit rapid input of data. Interfacing a $5000 Calcomp plotter to the automatic channel of an IBM or Sigma series machine may cost much more than the cost of the plotter.

Many small computers use teletype machines as console typewriters. The ASR-33 teletype has not performed well, but it has recently been improved. The ASR-35 and KSR-35 have excellent records, and the newer ASR-37 and KSR-37 (15 characters/sec) are very good. The IBM Selectric has had a mixed reliability record which is, however, improving. In every case, expert routine maintenance is required.

These are a valuable asset to efficient programming. At least one, and preferably more, is desirable, especially in the medium and large computers.

These are of great use for obtaining a permanent ("hard copy") record, especially when large volumes of output are produced; however, they are expensive, usually costing $20,000 or more (including interfacing). In order to avoid tying up a large central processor during typewriter output of masses of data, a line printer is not only very useful, it is essential for efficient operation (and to spare the typewriter). A line printer can be immensely helpful and can save much time in the process of developing and debugging programs.

The cost, however, will often preclude its addition to a modest system. If the system has an IBM-compatible tape drive, the computer output can be written on tape and later carried to a computing center for printing. Several industrial concerns are known to be working on new types of printers, some being dry-copy, nonpercussive types. One type which has already been marketed, the Inktronic printer, operates by spraying ink at the paper from small tubes. The characters are well formed. It operates at about 120 characters per second and costs $5600.

Conveniently, it requires standard Teletype interfacing, and it can be ordered with an optional keyboard. Although it has exhibited a few new-product ailments in its first 8 months or so of use, it shows promise of becoming a very useful device. Another printer operating on a similar principle has just appeared—the A.B. Dick Company's Videojet printer, priced at about $4900.

The overwhelming favorite is still the incremental machine called the Calcomp plotter. It costs about $5000 and is easily interfaced to many computers. It is very accurate (about 0.01 in. in each direction) and provides valuable output to the experimenter. It can be programmed to plot experimental points and theoretical curves together on white paper in India ink, relieving draftsmen of considerable work and doing a more precise job. Other incremental plotters are now on the market, e.g., the Houston Instruments version. Varian has developed an electrostatic plotter to sell for about $15,000.

At least four types are in use. The standard scheme involves the displaying of bright spots under control of the computer, which has generated appropriate words to cause x and y deflections of the spot when those words have been transformed by ADC's in the CRT unit. The pattern is rewritten continuously. A light pen held against a particular part of the display pattern can be used to signal the computer. This scheme works well but may produce a flickering image if the computer is interrupted frequently to handle higher priority jobs or if the display is so complicated that the rewriting period exceeds 1/30 sec. The expensive hardware option called a character generator is considered not worthwhile unless large amounts of text are to be displayed. On a 10 in. x 10 in. raster a matrix of dots 1024 x 1024 is sensible.

A second scheme involves a disk or drum on which the computer writes the words to generate the pattern. Separate reading heads send the words to the CRT unit. Thus the display, automatically rewritten over and over, is updated from time to time by the computer. The light-spot cursor and joy-stick method replace the light pen in this case. (In passing, it is worth remarking that a light pen is only as effective as the computer program allows it to be, that the effort of programming for light-pen control is usually not trivial, and that a substantial amount of core storage may be required. A means of display control perhaps not so popular as it should be is sense-switch control.)

A third scheme makes use of a modern storage CRT. The computer sends the pattern to the CRT only once, and the display can persist until erased. This method is flicker-free and inexpensive, but the pattern is not so distinct and sometimes not so bright as in the above schemes. However, it is cheap. Furthermore, the storage tube can be used alternately as an ordinary CRT with quite satisfactory resolution.

A storage version is thus possible which reverts to the standard scheme, for high-resolution inspection, when a button is pushed. The storage-tube scheme is probably the best buy for use in a typical small system. The Tektronix Company has recently announced a storage-tube device, Type 4501, which is said to generate a continuous video signal suitable for driving large-screen television monitors.

A fourth scheme involves the generation of a video (analog) signal corresponding to the display, written on a disk or drum by the computer. Reading heads then send the video information to a CRT having a TV raster synchronized with the rotation of the medium. This is a good scheme where many displays are needed, but it is too expensive for many applications, costing upwards of $20,000 for the first unit. (For example, the Data Disc System 6500 Display costs about $23,000.)

One display feature considered desirable by many nuclear physicists is rotation of isometric data plots. This can be accomplished in one of two ways: recomputing every displayed dot or using an appropriate analog device (potentiometer). Because the latter is so cheap, clearly its use is more desirable than the recomputation of the rotated view. Also, using a light pen on a recomputed display is especially difficult because the inverse computation has to be performed in order to maintain proper correlation with the original data.

However, it should be noted that the TV raster technique is limited in this respect: rotating potentiometers cannot be used, and the image must be recomputed. The technology of displays is developing rapidly.

In many cases, especially where typical standard operations are involved, it is preferable to use external devices to handle preliminary selection and sorting of events, rather than to ask the computer to do the entire job. For example, particle identification by use of signals from two counters involves one or two multiplications and additions, which can be carried out almost instantly by a fairly simple external analog device, whereas a small computer would likely require at least 500 µsec for the job, assuming calculation, and perhaps 40 µsec, assuming table look-up.

Computers as small as a PDP-8 have been successfully time-shared by several users in special applications. The justification given is that all the peripheral hardware can be shared also, so that the added constraints and programming difficulties are balanced by savings in hardware costs. 

Computers have also been shared for simultaneous on-line data-taking in low-data-rate experiments. In working out the economics of time-sharing, the added hardware (such as CRT's and remote consoles and memory protection) needed to allow simultaneous access by more than one user, as well as the extra memory space needed by the time-sharing monitor, should be considered. The greatest costs, however, lie in the added constraints placed on each of the users and in the greatly increased cost of programming. In many cases the use of two or more identical computers is preferable. However, in large, expensive systems time-sharing can be very useful.

18. Software That Should Be Supplied by Manufacturer

Complete documentation should be provided, including listings, step-by-step user instructions, and some fully worked out examples.

a. Hardware diagnostic routines: To test memory addressing, instruction set and to test correct operation of every peripheral and special hardware feature.

b. Systems to edit, assemble, and debug programs in symbolic machine language: These should efficiently use any special I/O device such as magnetic tape, disk, or line printer.

c. Efficient subroutines should be provided for operation of any special peripheral device purchased from the computer manufacturer. Symbolic language source tapes or card decks, listings with comments, and examples of use should be included.

d. Conversational Fortran-type programs provided by some manufactures are useful for supplemental calculations.

NOTE: The following points apply particularly to the medium and large machines and become increasingly important as the computer becomes larger and more complex.

e. Fortran compiler and operating system, with convenient method to insert machine language instructions and subroutines. Good compile and run-time diagnostics are essential.

f. Mathematical subroutines should be provided in binary and source language.

g. Complete specifications and documentation for the programming system should be supplied, so that programs prepared by users can be made compatible. It may be objected that this will cost too much, but not to do so will be very costly and frustrating to many users.

Experience at Brookhaven and Berkeley has shown that a programmer can produce between 10 and 20 debugged and documented lines of program per day, depending on such factors as experience, when he is working on reasonably straightforward programming. When working on a complicated monitor system he would be considerably less productive. System programming is obviously very expensive, therefore the average person exploring the computer market would be well advised to consider the software support along with the hardware offered in each case. Manufacturers vary greatly in this respect.

A major contributing factor to the persistent popularity of the PDP-8 is that the software support is so extensive. In general, the newer a computer, the less software is likely to be available.