The NASREM robot control system standard

Lumia, Ronald; Fiala, John C.; Wavering, Albert J.

doi:10.1016/0736-5845(89)90120-8

Cited by 22 publications

(15 citation statements)

References 5 publications

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“…This architecture is a hybrid based on the NASA/NBS Standard Reference Model for Telerobot Control architure (NASREM) (Lumia et al 1990) architecture and a subsumption-like architecture, and is organized in three levels (® gure 8).…”

Section: The Rational Behaviour Modelmentioning

confidence: 99%

Recent trends in control architectures for autonomous underwater vehicles

Ridao¹,

Batlle²,

Amat³

et al. 1999

International Journal of Systems Science

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Section: The Rational Behaviour Modelmentioning

confidence: 99%

Recent trends in control architectures for autonomous underwater vehicles

Ridao¹,

Batlle²,

Amat³

et al. 1999

International Journal of Systems Science

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“…The architecture has recently been adapted to control the NASA robot for the space station (Lumia et al, 1989). The system is divided into three hierarchies; task decomposition, world model, and sensory processing.…”

Section: Related Workmentioning

confidence: 99%

Error management for robot programming

Smith

Gini

1992

J Intell Manuf

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Reliability is a serious problem in computer controlled robot systems. Although robots serve successfully in relatively simple applications such as painting and spot welding, their potential in areas such as automated assembly is hampered by the complexity of programming. A program for assembling parts may be logically correct, execute correctly on a simulator, and even execute correctly on a robot most of the time, yet still fail unexpectedly in the face of real world uncertainties. Recovery from such errors is far more complicated than recovery from simple controller errors, since even expected errors can manifest themselves in unexpected ways. In this paper we present a novel approach for improving robot reliability. Instead of anticipating errors, we use knowledge-based programming techniques so that the robot can autonomously exploit knowledge about its task and environment to detect and recover from failures. We describe a system that we have designed and constructed in our robotics laboratory.

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“…The remaining processes can be distributed to processors as follows. CPU-4: 15,20 CPU-5: 19,16,10,11 Approach to Computing Arch. CPU-6: 12 CPU-7: 7,3 Here, each processor executes the processes in the order listed.…”

Section: Now Consider the Execution Times Presented Inmentioning

confidence: 99%

An approach to telerobot computing architecture

Fiala¹,

Lumia²

1990

Self Cite

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In response to a Goddard Space Flight Center effort to look at the requirements for a computing architecture design appropriate for a telerobot, this document describes the Intelligent Controls Group approach to telerobot computing architectures. It is shown how a seven microprocessor control system can achieve teleoperation with an aroundthe-loop time of 10 ms. The document focuses on low-level, real-time robotics and does not discuss some issues relevant to space systems such as space-qualification and thermal design.

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The NASREM robot control system standard

Cited by 22 publications

References 5 publications

Recent trends in control architectures for autonomous underwater vehicles

Recent trends in control architectures for autonomous underwater vehicles

Error management for robot programming

An approach to telerobot computing architecture

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