S. A. Schneider, V. W. Chen, G. Pardo-Castellote, and H. H. Wang. ControlShell: A Software Architecture for Complex Electromechanical Systems. The International Journal of Robotics Research, 17(4):360-- 380, April 1998.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....It is necessary to place our system which we have called RECIPE in context: we need to explain what our system is and what it is not. There are many frameworks and architectures in the literature for creating autonomous robot control systems. Some systems, such as ORCCAD[3] or ControlShell[4], concern systematic ways to build software to control robotic hardware particularly with regard to real time constraints. Other programming tools, such as RAP[5] or RPL[6] are designed to provide reasoning and planning capabilities operating on much longer timescales. RECIPE provides a framework ....

S. A. Schneider, V. W. Chen, G. Pardo-Castellote, and H. H. Wang, "ControlShell: a software architecture for complex electromechanical systems," International Journal of Robotics Research, vol. 17, pp. 360--82, April 1998.

....is to occur that is important. Fuzziness is a means of interpreting events or objects once after they have occurred. Probability can tell you how likely it is that a tall person walks into a room, but only fuzzy theory can tell you how tall that person is after he or she arrives. Kosko 1992, Schneider et al. 1998] Fuzzy Logic is mathematical logic that allows vagueness in symbols, symbol matching to determine rule applicability, and quantifiers. A traditional logic rule might read: If the distance to the target is greater than 10 meters, move forward at 10 meters per second. For a fuzzy logic system, ....

....matched to quickly may also be determined by the degree of applicability of the rule. The use of very in this rule is an example of a vague quantifier, quantifiers such as this will alter the level of match between objects (such as distance in this example) to the symbol (large) Kosko 1992, Schneider et al. 1998] A system based on fuzzy logic begins with the definitions of degrees of truth. The degrees of truth for various conditions, or the degree of belonging to each fuzzy set, are defined for a series of examples. Interpolation between these defined examples determines the degree to which new data ....

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S. Schneider, V. Chen, G. Pardo-Castellote, and H. Wang. ControlShell: A Software Architecture for Complex Electro-Mechanical Systems. International Journal of Robotics Research. Spring 1998.

....have grown. Early efforts concentrated in detailed software packages [19] or general frameworks [2] Only in the last decade, with the emergence of fast computers with real time operating systems, have infrastructures been designed as open architecture controllers of modern robot systems [33][28][10] In parallel with robot control efforts, artificial intelligence systems for planning scheduling and execution were developed which relied on underlying closed architecture robot controllers [15] 30] The tendency of these systems to be slow and computationally costly led to the emergence of ....

....the problem of providing a software infrastructure with modularity, reconfigurability, and code re use implicit in the design. To this end, a new rover, Rocky 7, was built, and its development team selected the ControlShell C software development environment hoping to set it as a new standard [28][35] But as subsequent research rover efforts were started, a new spectrum of control infrastructures re emerged in rover tasks (e.g. FIDO, DARPA TMR, Nanorover, etc) similar to the situation seen in manipulation tasks half a decade before [27] 41] 34] In the same time frame as the ....

S. Schneider et al. ControlShell: A Software Architecture for Complex Electromechanical Systems. International Journal of Robotics Research, 17(4), April 1998.

....Nonetheless, the research literature contains many results that are of potential value to missions. Some have influenced current rover designs; many more remain unused. Individual technologies, in addition to those mentioned above, include verifiable real time control [ Borrelly et al. 1998; Schneider et al. 1998; Musliner et al. 1993 ] and humancomputer interaction [ MacKenzie and Arkin, 1998 ] 8 Conclusions and Future Directions The executive architecture for rovers presented in this paper is a step forward towards the goal of rovers that can autonomously accomplish mission goals. We have designed ....

S. A. Schneider, V. W. Chen, G. Pardo-Castellote, and H. H. Wang. Controlshell: A software architecture for complex electromechanical systems. The International Journal of Robotics Research, 17(4):360--380, April 1998.

....do not address. Nonetheless, the research literature contains many results that are of potential value to missions. Some have influenced current rover designs, but many more remain unused. Individual technologies, in addition to those mentioned above, include verifiable real time control [20,21,22] and human computer interaction [23] The next generation of mission ready rovers The next generation of rovers, the first of which is expected to launch in 2003, will be more flexible than Sojourner. Instead of simple command sequences, the rovers will execute complex contingency plans, which ....

S. A. Schneider, V. W. Chen, G. Pardo-Castellote, H.H. Wang, "ControlShell: A Software Architecture for Complex Electromechanical Systems," The International Journal of Robotics Research, 17(4), pp. 360-380, April 1998.

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S. A. Schneider, V. W. Chen, G. Pardo-Castellote, and H. H. Wang. ControlShell: A Software Architecture for Complex Electromechanical Systems. The International Journal of Robotics Research, 17(4):360-- 380, April 1998.

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