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Concepts for a Real-Time Sensory-Interactive Control System Architecture

Published

Author(s)

Tony Barbera, M L. Fitzgerald, James S. Albus

Abstract

This paper describes concepts used in defining an architecture for a real-time sensory-interactive control system. These concepts were arrived at from testing and evaluating different control systems strategies at the National Bureau of Standards. A hierarchical task decomposition architecture has been used to structure the complex information processing for real-time sensory interactive robot control in a manageable form. This structure consists of a number of generic control levels. The task of a generic control level is to sample its input state and generate an appropriate response output state which results in a partial decomposition of its task command. Sensory feedback is provided by a processing structure of modules that are coupled with the appropriate control levels. The requirement that the system must be designed for ease of human comprehension has lead to an implementation using a state-table processing structure. Real-time response results from a multiple processor implementation using synchronized communications through a common memory.
Proceedings Title
Proceedings of the Fourteenth Southeastern Symposium on System Theory
Conference Dates
April 15-16, 1982
Conference Location
Blacksburg, VA, USA
Conference Title
Fourteenth Southeastern Symposium on System Theory

Keywords

RCS

Citation

Barbera, T. , Fitzgerald, M. and Albus, J. (1982), Concepts for a Real-Time Sensory-Interactive Control System Architecture, Proceedings of the Fourteenth Southeastern Symposium on System Theory, Blacksburg, VA, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820166 (Accessed February 27, 2024)
Created April 29, 1982, Updated October 12, 2021