Overview of NASREM: The NASA/NBS Standard Reference Model for Telerobot Control System Architecture

摘要

The NASA/NBS Standard Reference Model for Telerobot Control System Architecture (NASREM) was developed by the National Institute of Standards and Technology (NIST) for the National Aeronautics and Space Administration (NASA) to provide a software control system architecture guideline for use by development contractors charged with building the Flight Telerobot Servicer (FTS) control system as part of the Freedom Space Station project. The original NASREM document describes a conceptual or domain-independent architecture, and suggests the outline of a functional or domain-specific architecture for FTS. This paper presents an overview of the NASREM conceptual architecture and reviews subsequent work at NIST in defining a functional architecture for the servo and primitive levels. This work suggests outlines for software and hardware architecture specifications, and software development environments to complement the NASREM conceptual and functional architectures.