Concepts for a Real-Time Sensory-Interactive Control System Architecture
Tony Barbera, M L. Fitzgerald, James S. Albus
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 of the Fourteenth Southeastern Symposium on System Theory
April 15-16, 1982
Blacksburg, VA, USA
Fourteenth Southeastern Symposium on System Theory
, Fitzgerald, M.
and Albus, J.
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)