A computer architecture for intelligent machinesThe theory of intelligent machines proposes a hierarchical organization for the functions of an autonomous robot based on the principle of increasing precision with decreasing intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed. The authors present a computer architecture that implements the lower two levels of the intelligent machine. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Execution-level controllers for motion and vision systems are briefly addressed, as well as the Petri net transducer software used to implement coordination-level functions. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.
Lefebvre, D. R. (NASA Headquarters Washington, DC United States)
Saridis, G. N. (Rensselaer Polytechnic Inst. Troy, NY, United States)
August 16, 2013
January 1, 1992
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 3 (A93-35501 13-63)