RCS: a reference model architecture for intelligent control

Abstract

The real-time control system (RCS), a reference model architecture for intelligent real-time control systems, is described. It partitions the control problem into four basic elements: task decomposition, world modeling, sensory processing and value judgment. RCS clusters these elements into computational nodes that control specific subsystems, and arranges these nodes in hierarchical layers so that each layer has characteristic functionality and timing. The RCS architecture has a systematic regularity and recursive structure that suggests a canonical form. Four versions of RCS have been developed. The application of one of the versions to machining workstation consisting of a part buffer, a machine tool and a robot is examined. The functionality of each of the levels in the control hierarchy is discussed.