A Reference Model Architecture for Intelligent Systems Design (1993) [26 citations — 0 self]
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author = {James S. Albus},
title = {A Reference Model Architecture for Intelligent Systems Design},
booktitle = {An Introduction to Intelligent and Autonomous Control},
year = {1993},
pages = {27--56},
publisher = {Kluwer Academic Publishers}
}
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Abstract:
This paper is divided into seven sections. Section 1 describes the evolution of the RCS system through its various versions. Section 2 gives an example of RCS applied to a machining workstation application. Section 3 describes the timing of real-time task decomposition(planning and execution) and sensory processing(sampling and integration) at the various layers in the RCS hierarchy. Sections 4, 5, 6, and 7 define the functionality and contents of the Task Decomposition, World Modeling, Sensory Processing, and Value Judgment modulesrespectively. The reader should not infer from this discussion or others throughout this paper, that all these difficult problems have been solved, at least not for the general case. Much remains unknown that will require extensive further research. The RCS architecture simply provides a framework wherein each of these problems can be explicitly represented and input/output interfaces can be defined. Section 1. Evolution of RCS RCS has evolved through a variety of versions over a number of years as understanding of the complexity and sophistication of intelligent behavior has increased. The first implementation was designed for sensory-interactive robotics by Barbera in the mid 1970's [3]. In RCS-1, the emphasis was on combining commands with sensory feedback so as to compute the proper response to every combination of goals and states. The application was to control a robot arm with a structured light vision system in visual pursuit tasks. RCS-1 was heavily influenced by biological models such as the Marr-Albus model of the cerebellum [4], and the CerebellarModel Arithmetic Computer (CMAC) [5]. CMAC can implement a function of the form Command t+1 (i-1) = H i (Command t (i), State t (i), Feedback t (i)) where H i is a single valued functio...
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