tailieunhanh - An Introduction to Intelligent and Autonomous Control-Chapter 2: A Reference Model Architecture for Intelligent Systems Design

Tham khảo tài liệu 'an introduction to intelligent and autonomous control-chapter 2: a reference model architecture for intelligent systems design', công nghệ thông tin, quản trị web phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 2 A Reference Model Architecture for Intelligent Systems Design James S. Albus Robot Systems Division Manufacturing Engineering Laboratory National Institute of Standards and Technology Gaithersburg MD 20899 Abstract A reference model architecture based on the Real-time Control System RCS is proposed for real-time intelligent control systems. RCS partitions the control problem into four basic elements behavior generation or task decomposition world modeling sensory processing and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. The RCS reference model architecture has a systematic regularity and recursive structure that suggests a canonical form. Control systems based on the RCS have been built for a number of applications. Examples of a control system architecture and a world model database for an intelligent robot in a manufacturing workstation are described. Each level of the control architecture performs real-time planning and sensory-interactive execution. Each level of the world model knowledge database contains state variables system parameters entity frames and maps. 1. INTRODUCTION An outline for a theory of intelligence has been published 1 . It defines intelligence as the ability to act appropriately in an uncertain environment where appropriate action is that which increases the probability of success and success is the achievement of behavioral goals. The intelligent system acts so as to maximize probability of success and minimize probability of failure. Both goals and 28 INTELLIGENT AND AUTONOMOUS CONTROL success criteria are generated in the environment external to the intelligent system. At a minimum intelligence requires the abilities to sense the environment make decisions and control action. Higher levels of intelligence require the abilities to recognize objects and