Title

Design of Knowledge-Rich Hierarchical Controllers for Large Functional Systems

Abstract

A hierarchical structure that utilizes all the functionalities of a large-scale system and unifies the dynamics of the system with its functional behavior is introduced. The proposed hierarchy is formed by decomposing the physical structure of a system and by associating knowledge-rich controllers with the structure. The inclusion of structural information in the hierarchy has several advantages. First, it presents multifunctional descriptions of portions of the system. Then, it provides a modular decomposition such that complete reconstruction of the hierarchy is not required if some parts of the system change. Most importantly, it enables local failure handling and replanning. To demonstrate the physical decomposition, task assignment, and control process, a system with two robot arms and a camera was considered as an example.

Department(s)

Electrical and Computer Engineering

Keywords and Phrases

Robotics--Vision Systems; Robots--Arms; Knowledge-Rich Hierarchical Controllers; Large Functional Systems; Systems Science and Cybernetics

International Standard Serial Number (ISSN)

0018-9472

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1990 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

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