Future Upgrade Considerations: Inproving Analog I/O Bandwidth 
The A/D and D/A currently being used (SunnySide Systems) are connected to the transputers via one of the serial links (20Mbit/s). It might seem initially that 20Mbit/s is a limiting factor in the rate of the controller; however, some calculations show that this is not the case. It is actually the architecture of the A/D (the fact that input chans must be multiplexed, instead of being latched/converted at once) which limits the performance. The current D/A does not limit performance at all, and does not need to be upgraded.