PWM - Pulse Width Modulation, a technique to control a motor or other normally analog device by creating a pulse train of digital TTL output to simulate an analog output.
Quality of Service - definition of service levels based upon guarantees of resource availability for each service - e.g. processor capacity can be reserved for each service in advance (say 10%) and the system guarantees that this capacity will be available within in a worst case period of time, however may not guarantee all services will meet their deadlines.
Rate Monotonic - a hard real-time theory for fixed priority preemptive run-to-completion systems where priority is assigned according to service request period (higher priority for shorter period) and where feasibility of a set of services can be determined by the RM least upper bound or an iterative test such as the completion test.
Reachability Space - The points in space where a robotic device can place and end effector - e.g. places in space where a robotic arm can grapple an object.
Ready - the VxWorks task state where a task is ready to running and waiting only on the CPU to be granted by the scheduler.