Manipulator Servo Level Task Decomposition (Classic Reprint) - Hardcover

John C. Fiala

9780266908678: Manipulator Servo Level Task Decomposition (Classic Reprint)

Hardcover

ISBN 10: 0266908675 ISBN 13: 9780266908678

Publisher: Forgotten Books, 2018

Excerpt from Manipulator Servo Level Task Decomposition

Paralleling the task decomposition hierarchy are two more hierarchies, the sensory pro cessing hierarchy and the world modeling hierarchy The sensory processing hierarchy obtains and processes data from system sensors. World modeling analyzes the sensory pro cessing data and maintains an internal model of the world. World modeling is the part of the system which coordinates the sensory processing and task decomposition hierarchies, and maintains the global data system. As such, world modeling can be considered to have sup port modules that act as servers to sensory processing and task decomposition modules as depicted in figure 2. In particular, there is some component of world modeling at the Servo Level which acts as a server to task decomposition, providing model-based information rele vant to servo control. This module is called Servo Support in figure 2. The Servo Support module and the Data Acquisition Support module, together with the connection between the modules through the global data system, form the world modeling concept as depicted by a single box in figure 1. The additional structure depicted in figure 2 for world modeling, allows task decomposition to be treated separately from sensory processing. This document dis cusses aspects of the system on the task decomposition side only. A detailed discussion of world modeling and sensory processing will given in subsequent documents.

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