RCS: a reference model architecture for intelligent control

Author

Albus, James S.

Author_Institution

Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA

Volume

25

Issue

5

fYear

1992

fDate

5/1/1992 12:00:00 AM

Firstpage

56

Lastpage

59

Abstract

The real-time control system (RCS), a reference model architecture for intelligent real-time control systems, is described. It partitions the control problem into four basic elements: task decomposition, world modeling, sensory processing and value judgment. RCS clusters these elements into computational nodes that control specific subsystems, and arranges these nodes in hierarchical layers so that each layer has characteristic functionality and timing. The RCS architecture has a systematic regularity and recursive structure that suggests a canonical form. Four versions of RCS have been developed. The application of one of the versions to machining workstation consisting of a part buffer, a machine tool and a robot is examined. The functionality of each of the levels in the control hierarchy is discussed.<>

Keywords

computer architecture; computerised control; industrial robots; knowledge based systems; machine tools; real-time systems; RCS; RCS architecture; canonical form; computational nodes; control hierarchy; hierarchical layers; intelligent real-time control systems; machine tool; machining workstation; part buffer; recursive structure; reference model architecture; robot; sensory processing; systematic regularity; task decomposition; value judgment; world modeling; Computational intelligence; Computer architecture; Control system synthesis; Intelligent control; Intelligent sensors; Intelligent systems; Machining; Real time systems; Timing; Workstations;

fLanguage

English

Journal_Title

Computer

Publisher

ieee

ISSN

0018-9162

Type

jour

DOI

10.1109/2.144396

Filename

144396