There are five major elements required for the development of an intelligent robot system. Four of these are architectures: 1. Conceptual architecture 2. Functional architecture 3. Software architecture 4. Hardwarearchitecture The fifth element is the software development environment. The original NASREM document describes the conceptual architecture, and suggests the outlines of a functional architecture. Recent work at NIST is defming the functional architecture of the servo and primitive levels, and suggesting the outlines of software and hardware architectures. and s o f t w m development environments.
This paper presents an approach to a Real-Time Control System (RCS) systems engineering methodology which complies with the RCS Reference Model Architecture developed by Robot Systems Division researchers at the National Institute of Standards and Technology (NIST). We also offer software implementation examples within the context of this RCS Methodology approach. NIST has been conducting research in the area of hierarchical real-time control systems for automation and robotics, for more than a decade. NIST researchers, working in the Automated Manufacturing Research Facility (AMRF) and on a number of other agency projects, have defined a theoretical reference model architecture as a first step in establishing a framework for standards development. This paper represents a second step toward that goal.
The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has been developing a generic reference model architecture, known as the Real-time Control System (RCS), for the last two decades. This paper demonstrates the application of RCS to the automation of submarine operations, which requires an enormous amount of intelligence be built into its control system. A summary of the reference model is given, followed by a description of the implementation process. The long term goal is to establish a generic development methodology for intelligent control systems.
This paper describes the results obtained in the final performing period of the ARPA sponsored submarine automation project^Efforts on the mapping between the submarine operational environment and the RCS software architecture lead to the result of three watch station graphic user interface panels. The submarine automation model has been expanded to include some engineering systems control capability. On the RCS generic structure, authors have explored methods to reuse existing plans for new task requirements. The authors have also illustrated a main feature in RCS, namely, a smooth transition of level of authority in commands from the higher to the lower control levels.' ARPA Order No. 7829, Amendment No. 02.
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