NASANBS standard reference model for telerobot control system architecture (NASREM) (supersedes NBS Technical Note 1235 issued July 1987)

Albus, James S.; Mccain, H; Lumia, Ronald

doi:10.6028/nist.tn.1235r2

Cited by 76 publications

(30 citation statements)

References 3 publications

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“…In the further work it will be necessary to work out in detail both the input and output formats, as it has been proposed in (Albus, McGain, & Lumia, 1989) and to embed other known principles of industrial engineering mostly linked to sustainable production like improving energy and material efficiency into the highest level of strategic control.…”

Section: Resultsmentioning

confidence: 99%

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Strategic Control Level for Industrial Robotic Contact Tasks

Šešlija¹

2013

DAAAM International Scientific Book 2013

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Section: Resultsmentioning

confidence: 99%

“…One of the first protagonists of the hierarchical structure of robotic control systems was Albus (Albus et al, 1981). Afterwards, a number of different hierarchical control concepts have been proposed (Albus et al, 1989).…”

Section: Multilevel Robot Controlmentioning

confidence: 99%

Strategic Control Level for Industrial Robotic Contact Tasks

Šešlija¹

2013

DAAAM International Scientific Book 2013

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“…In the AI literature there are several classical architecture approaches, for instance, NASREM (Albus et al, 1989), LAAS (Alami et al, 1998), Subsumption (Brooks, 1986) and so on. However, there is no widely accepted theory of architecture design that can be used to prove that one design is better than another (Russel and Norvig, 1995).…”

Section: An Ai Approach For An Exploratory Agentmentioning

confidence: 99%

Autonomous Learning Architecture for Environmental Mapping

Silva

Idiart

Trevisan

et al. 2004

Journal of Intelligent and Robotic Systems

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Abstract.Here we propose an architecture for an autonomous mobile agent that explores while mapping a two-dimensional environment. The map is a discretized model for the localization of obstacles, on top of which a harmonic potential field is computed. The potential field serves as a fundamental link between the modeled (discrete) space and the real (continuous) space where the agent operates. It indicates safe paths towards non-explored regions. Harmonic functions were originally used as global path planners in mobile robotics. In this paper, we extend its functionality to environment exploration. We demonstrate our idea through experimental results obtained using a Nomad 200 robot platform.

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“…Software architectures have received much attention within robotics research [3,14,40]. One reason is that when robot controllers (e.g., for space applications) become more and more complex, abstractions and software structures are introduced to cope with the complexity.…”

Section: The Purpose Of Software Architecturementioning

confidence: 99%

“…The "NASA/NBS Standard Reference Model for Telerobot Control System Architecture (NASREM)" [3] is one of the earliest and best known (and criticized) architectures for robots. One of its greatest disadvantages is "its use of a large global memory which violates basic software engineering principles of encapsulation and information hiding" [42].…”

Section: Role Of Software Architecturesmentioning

confidence: 99%

Integrated architecture for industrial robot programming and control

Nilsson

Johansson

1999

Robotics and Autonomous Systems

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As robot control systems are traditionally closed, it is difficult to add supplementary intelligence. Accordingly, as based on a new notion of user views, a layered system architecture is proposed. Bearing in mind such industrial demands as computing efficiency and simple factory-floor operation, the control layers are parameterized by means of functional operators consisting of pieces of compiled code that can be passed as parameters between the layers. The required interplay between application-specific programs and built-in motion control is thereby efficiently accomplished. The results from experimental evaluation and several case studies suggest the architecture to be very useful also in an industrial context.

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NASANBS standard reference model for telerobot control system architecture (NASREM) (supersedes NBS Technical Note 1235 issued July 1987)

Cited by 76 publications

References 3 publications

Strategic Control Level for Industrial Robotic Contact Tasks

Strategic Control Level for Industrial Robotic Contact Tasks

Autonomous Learning Architecture for Environmental Mapping

Integrated architecture for industrial robot programming and control

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