Cart (Loading....) | Create Account
Close category search window
 

Integrating sensors into a standard control architecture for robotic applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Lumia, Ronald ; Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA

The problem of the integration of sensors into a coherent system for robotic applications is addressed by presenting a standard robot control architecture, the NASA/NBS Standard Reference Model for Telerobot Control System Architecture (NASREM). NASREM has three hierarchies: a task decomposition hierarchy, a world modeling hierarchy, and a sensory processing hierarchy. Goals at each level of the task decomposition hierarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. In order to accomplish their goals, task decomposition modules must often use information stored in the world model, which always stores the best estimate of the state of the world. The sensory processing hierarchy must update the world model. The concepts of NASREM are presented with emphasis on the sensors required for advanced capabilities in robot control

Published in:

Instrumentation and Measurement Technology Conference, 1990. IMTC-90. Conference Record., 7th IEEE

Date of Conference:

13-15 Feb 1990

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.