Hostname: page-component-78c5997874-g7gxr Total loading time: 0 Render date: 2024-11-20T03:50:16.698Z Has data issue: false hasContentIssue false
  • English
  • Français

Using NASREM for telerobot control system development

Published online by Cambridge University Press:  09 March 2009

Ronald Lumia
Ronald Lumia
Affiliation:
Robot Systems Division, National Institute of Standards and Technology, Bldg 220, Rm B-127, Gaithersburg, Maryland 20899 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

Using a functional architecture such as the NASA/NIST Standard Reference Model for Telerobot Control System Architecture (NASREM) to implement specific applications is helpful because much of the work resides in the infrastructure and the infrastructure is the same for all applications. Rather than recreating this infrastructure, our approach is to develop the additional 20% of the code which tailors the infrastructure for the specific application. This paper describes the process by which a system based on NASREM is developed.

Keywords

NASREMTelerobot controlFunctional architectureHierarchical system
Type
Articles
Information
Robotica , Volume 12 , Issue 6 , November 1994 , pp. 505 - 512
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Albus, J.S.. McCain, H.G. and Lumia, R., “NASA/NBS Standard Reference Model Telerobot Control System Architecture (NASREM)” NIST Tech. Note 1235 (NIST, Gaithersburg, MD, 07, 1987).Google Scholar
2.Fiala, J., “Manipulator Servo Level Task Decomposition” NIST Technical Note 1255 (NIST, Gaithersburg, MD, 10, 1988).Google Scholar
3.Wavering, A., “Manipulator Primitive Level Task Decomposition” NIST Technical Note 1256 (NIST, Gaithersburg, MD, 10, 1988).Google Scholar
4.Kelmar, L., “Manipulator Servo Level World Modeling” NIST Tech. Note 1258 (NIST, Gaithersburg, MD, 12, 1989).Google Scholar
5.Chaconas, K.J. and Nashman, M., “Visual Perception Processing in a Hierarchical Control System: Level 1” NIST Tech. Note 1260 (NIST, Gaithersburg, MD, 06 1988).Google Scholar
6.Fiala, J., “Note on NASREM Implementation” NISTIR 89–4215 (NIST, Gaithersburg, MD, 12, 1989).Google Scholar
7.Kelmar, L., “Manipulator Primitive Level World Modeling” NIST Tech. Note 1273 (NIST, Gaithersburg, MD, 12, 1989).Google Scholar
8.Albus, J.S., “System Description and Design Architecture for Multiple Autonomous Undersea Vehicles” NIST Technical Note 1251 (NIST, Gaithersburg, MD, 09, 1988).Google Scholar
9.Huang, H.M., “Hierarchical Real-Time Control System for Use with Coal Mining Automation” Fourth Conference on the Use of Computers in the Coal Industry,Morgantown, WV,June 1990 (1990) pp. 3–14.Google Scholar
10.Szabo, S., Scott, H.A., Murphy, K.N. and Legowik, S.A., “Control System Architecture for a Remotely Operated Unmanned Land Vehicle” Proceedings of the 5th IEEE International Symposium on Intelligent Control,Philadelphia, PA,September, 1990 (1990) pp. 871–883.Google Scholar
11.Michaloski, J., “Elements of Real-time Intelligent Control System Design” NIST Technical Note (NIST, Gaithersburg, MD, 03, 1992).Google Scholar
12.Quintero, R. and Barbera, A.J., “A Real-Time Control System Methodology for Developing Intelligent Control Systems” NISTIR 4936 (Gaithersburg, MD, 10, 1992).Google Scholar
13.Watering, A.J., Fiala, J.C., Roberts, K.J. and Lumia, R., “TRICLOPS: A High Performance Trinocular Active Vision System” IEEE Conference on Robotics and Automation,Atlanta, GA,May 2–7, 1993 (1992) pp.Google Scholar