Reference Model Architecture for Intelligent Systems Design

摘要

A reference model architecture based on the Real-time Control System (RCS) isproposed 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 work-station 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.