A Computer Architecture For Intelligent Machines
[ A COMPUTERARCHITECTUREINTELLIGENTFORMACHINESn.byD.R. ter,Troy,NewPolytechnicYorkDecember,CIRSSE7m Instituteand SystemsEngineering12180-35901991REPORT#108
A nstitute12180-3590Abstract"TheTheorytonomousof Intelligentrobotformulationmachinebasedof this theoryis nsionsreal-timeforof uncertaintyarchitecturean event-drivenoperatingto UNL andand higher-levelcontrolau-analyticthat implementsDetailsoperatingandLevelsoftwaresystemsA case studyof manipulatortheparadigmof Executionnet transducerVxWorksare described.Anprogrammingsystem.as well as the Petriapplicationof anIntelligence.for each level of the intelligenta computerandthe Withpresentsare addressed,Level izationPrecisionmeasuresThisThesystemsof a el,LevelroboticPrecisionat the lowestExecutionin theMachines.uncertainty[11][16]used towhichillustratesvisionenablehow thissystems.structure.Thefor Intelligentthe ationyearstheoreticSystemshasrun-timeis propagatedupwardfor Spacehasbeenandat thea neuralbeganthatnetExecutionrelaxationin 1991 to addresshas beenbuiltadoptedThusLevel,entropythe "intelligent[5][10] atthis researchemployingdecision1.In thisof Increasingon abstractis maintainedthe hierarchy.(CIRSSE)formulationthe issue of implementingto supportthrougha linguisticproblemLevelprincipleof thefunctions,in Figureinformationusingsys-The natureis performedExplorationthe analyticat each level of the hierarchy.problemto thereasoningcontrolhardwareby controlis shownDetailedaddressedapproachcapabilities.the Organizationaccordingof the func-and basicacrossdominated(IM)higher-levelat run-time.Roboticseveralinformation)Level,in place,computeronly statusoverCoordinationin theandmachineSpecifically,is instantiatedandcontrolat theare organizedissues,intelligentmachineand reasoningLevelorganizationthe hardwareintelligentthe Executionresearchof the[12][9].of theplanningwithby operationsdataas an optimalthe theoryhigher-levela hierarchical evel containingthe capabilitiesA diagramdataLevel(or inversely,is formulatedWithactualin [8], describesan ligentandDecreasingto olytechnicintegratingare distinctlyfunctionsWithlevels:Level providinglevelsintelligenceas proposedinto three eveland an OrganizationmachineMachines,robota Coordinationintelligenttheof Intelligentof an autonomousfunctions,ryears.machine.and visionarchitecturea omputerwof theforproposesof Increasinginformation-theoreticin recentof the intelligentcontrollerstheusinghas been developedlower two levelsthatMachineson the Principleatof theRensselaerTheoryofas a measureofmachinemakingthe Organizationthe intelligentproblem"problemLevel.machineis the focus of this paper.
-:Thepaperroboticis organizedhardwareandwas developedlas follows.computers.to provideSectionSectiona uniform2 describes3 presentsprogrammingthemappingthe CIRSSEinterfaceof theTestbedintelligentOperatingmachineSystemfor the . MotivationLvisionfor andsystemsCoordinationis builtfromandwithwitha ctionstimetheto theexecutescale"betweenVSS.Whilerobot4-450of tilt6- or 9-DOFrobotfor llera wideatQ-bus,thusof researchintoVxWorkscage or betweenof ingsystemis usedan excellent(UNIX-compatible4 andsubsystems.chassisin Figure2, assignsfunctionschassiscontrolexecuteat acages,environmentsockets)andis thaton the VMEandfor imple-for communicationon the imecage and otherbetweenCIRSSESuntestbedhigher-levelfor thissupportthe VMEforServicesthe(predominantlyalso shownprovidesmethodsit intoall of yAto integratein FigureVMEa lasersystem.for research.workstationswhichto theThe VxWorksit offers only low-levelchoiceprovideor pairwise,andUNIXtestbedwhileon the VMElimitedto thecontrolenvironmentandvisionmanipulatoron a custom-builtUnimationprocessingplatformis shownin a real-timeby the processorshas a similarlyvisionworkstations.for MCSof lyto be a flexibleEthernetvisiontrackto supportimageby fourfunctionsandbe ntationCIRSSEof motionmayto controlto the CIRSSEof thesystems.of IM functions.thatarelinearto thewas developedvisionhowa 5 cameraThe600) mountedby a Motionofillustratesandas two independentis interfaceda five camerasdevelopedof intelligentLevelMCSthatthatsubsystem,or as an 18-DOFis controlledcageand integrationandbe configuredandHardwareworkstations.a 12 footexperiments,the VSS was designedattacheddiagramA mappingecutionwbeenprocessingA schematicformshaslight,Like the MCS,mayalongmanipulatorand developmenta case studymanipulatorUNIXfor thesoftwareof manipulatorto560 and a mcontroller.andcartsfor assemblymanipulators,subsystemof ansystems7 presentsModel(a PUMATheon a dedicatedor structuredSystemrobotsManipulatorvendor'sof multipleconsistscontrolsectionand passingCIRSSEvolumeLevelPetri net transducer6. And,MachinePUMAworkThisCIRSSE,real-timecontroltwo 3-DOF5 150 of rotation.armswatassociatedtwo 6-DOFtransporterin sectionintegrateshardwaretheirof the Execution4 and 5, respectively.Intelligenttestbedsubsystem,detailsis coveredarchitectureMappingThedesignin sectionsLevel functionsthis computer2generalare treatedsocketsUNIXor xtensionssystemTheseandintelligentmachinemany5 ms controlto UNIXandsystemof the nextmachineloopsto pathproposedin Figuretwo differentoperatingplanninga uniformare calledThe researcherin Figureusingwere developedand rs,VxWorksthe application,operatingsubjectwintelligent-- s now presented2 is an riodically.To copewitha communicationlayerbetweeninterfaceTestbedfor developingOperatingSystemwith the straight-forwardtimetheseapscalesdemands.the retileof the
3CIRSSETestbedThe motivationto builddistributedinterface--to constructtasks,interfacewhichsupports3) synchronizationtasksexecuteto CTOSBootstraptheloadsandinitializesfromone processor--no recompilationto all tasksidentificationserviceassignssimplyphases-- to balanceenvironmentbyUNIXmessages.andinvolvedis specifiedtaskandin the application.the configurationto everyTheVxWorks,via configurationAdditionally,loads.betweenwas implementedexchangingfiles.file andthisfor the distributedidentificationbe interchanged2) communicationon bothby revisingresearchersprogrammingcouldprocessorson all processorstasks,uniformthatof tasks,is required.startupa uniqueamongare availablesystemor relinkingthreeA simple,communicatemodulesCTOSwas to enablefunctionsAn event-drivenandof whichto anotherto synchronizehardware.-- and movedsoftwareincluding.most(CTOS)of modular1) distributionin parallel,threeSystemtestbedthe application.andin VxWorks:be movedTaskandfive services;applicationthe CIR.SSEcomponentsis throughof esof tasksSystemTestbedthe developmentthreeindependentlyThe distributionmayaccessencouragefrom standardCTOStwo for real-timeuthatwouldapplicationsterms,andin whichthe CIRSSEapplicationswas desiredIn broadOperatingfor developingA n the applicationand associatesusedit withto routea requestCTOSmessagespassingof thetaskAnotherworkstationsandare located,fromVMEspecifiedtask'sin theid onbe foundby theapplication.the samefromfile.Theits symbolicHowevereventcage,the userserviceaddressedis usedtasknameexecutionby the lowest-levelhandlerandid isthroughneedtasks.betweenwheretasksof the locationsymbolicname.of real-timefunctionsWhenall UNIXnot knowindependentvia the receiver'slow latencyprimarilybetweenon a VMEmessagehigh frequency,is usedmechanismall processorsis essentiallyprovideshardwarebetweenviewpointthe messageservicecommunicationare openthe users'sinceon a VMEbetweenis the primarysocketsSynchronizationtnameto the task.serviceis startedof the receiverhksymbolicto this service.Message!thesoftwareof MCSfunctionssuch as controlinterfaces.serviceon a VMEconstitutescage baseda secondfaster-but-limitedon a "distributedcommunicationsemaphore."It is themechanismfoundationfor theservice.uThecentralsystem.a commandspecifyrouted"owns"CTOSdistributedwmandat hightheare ongof the a pointeris transmitteda chassis.handlinguser.Messagetaskis to waitare keyfor a replychassisdataandaftertheUNIXmessagethatthe receivingandflagstowhereasis sk,thesendingits size,of messagecan specifyfromand(an individualManagementflagsto understandingid of receivingimmediatelywithinto thethesetaskto additionalare sent betweenthe sendingareto bewhichtaskto by the message.applicationsmanyeventthatare used for messagesthatpointedwriteandstructuresWhenso is transparentpriority,the datausers16 bytethehandlingcage)memoryby CTOS,of CTOSareindicatingmessageor a VMEsharedobjectsMessagesprocessors,as a collectionand whichof eventexecutehandlerin parallel.taskswhich,An eventas discussedhandlertask,earlier,or simplymaybe"task",
is an instantiationmqueueAll eventof thathandlerexits.multiplebe reentrant.the exampleabove.4in echanneltheto thetaskidfunction.requested,performsprocessing,and theneventhandlera messageidentificationfunctionsas suggestedservicethethe ddevelopment.of a f work over a 9 monthControl[1] sourcesan on,of MCS.modulesdriversthatsensorplus 3 DOFand desiredlayersmotionconcernsof CTOSperiodwitha layered-- roughlyandevenlysetpointscontrolsuppliedare composedby theof synchronouslayer is to generatelayeron currentmotionplanningtasks executinga trajectorywelltestbedlayersmanipulatorThe nextbasedhasa slot in the interface;a 9-DOFtransporter.torquesandlowest-levelfor the upperis assignedFor example,from the robotTheinterfacesubsystemof the testbed.structureindependently.effect a hardware-independentcomputeplanningIt is designedcan be replacedof the manipulatorviewalgorithmscontrolfrom1.6 man-yearsso thatof a PUMArole of thepassedthesetaskhas beenin-house,an in-houseorganizationand externallayermotionSpecifically,beingas sendinga messagearrives.to defaultfunction,of themanages[18].layerscontrolleravailableIn total,approximatelythe6 DOFwhereand4.5 ms. Thefavoringan ming.of thejointat CIRSSEbe developedsystem.MCSbetweenlayer containsof MCS.theandaremessageis as simpleone actioneffortsof controland6 is a fortdefined4 and 5 illustrate4.messagethe processingmay use the sametaskin Figurereceivedany unrecognizedanotherservicea messageSystemfor a custom-builtthe size of theandprocessorfroma new systemovershownto determineservicea reviewthatformatcommandmessageon a singlesignificantAfterpassingwhenthe message5. Figuresit was recommendedgeneralmessagefunctionto theControlOne of the more-sameCTOShandlera pointerthe odespassesfunction.and calls the eventhaveof thethe functionBecausehandlertask,functionsthe : of anfor each eventcan beup is the motionjointlayer.datareadBothat the servotherate,for implementationfromtestbede.g.everyby the sthe clientwishto use theLevelof the IM ervedstateon."powerThem mw andTheactivefunctionalin somefive MCSon,state;brakesinstancesto ensureunique,a statestatesthatwithcorrespondPowertheof MCSare presentto moveto thephysicalreserved,are off for motionhave resultedasynchronouslyfor usersfunctions.of theandCoordinationThein an orderlybeen properlyoff",dutiesconfigured;in differentpowerwithseveral2) todirections;Thestateis theallocatedprior"powerstates;ofmanner.only nonobviousof "powerestoppedsystem.properlythe robothavestatesandThewhofor example.7. Theof the manipulatorthreelayersubsystemin Figureservoof accesslayersattemptingof themeansMCSlayer,spansas shownis off for cold,for MCSlow-levelis a multipleplanningthe primaryinterfacemanagerthatat the motionof the manipulatorthe DOFsoff."features:dealingfive statesstatessetarriveto the cliente.g. two tasksbetweenat a frequencylayer presentsthe componentsbetweenand the mentsvia callsthatcalculatedinterfaceof the MCS,1) to ensureis usedclientthe robotthe transitionswhichon",on for thearetypicallysubsystemmoveand preventallowsto powerandThethe operationresourcesarealong new pathlayer.manipulator3) to enforcestatelfor motionfromTo coordinatemsetpointson, brakesand brakesstate.in a controlsystemcharacteristic,are
MCSis a VME-basedfrom ssorfunctionsis partcontrolmultiprocessor,coordinationsuch as a controlof an heterogeneous,functionsCTOSwith visionmanyandsystem.is suppliedalgorithmthatdistributed,servicesand establishedcontrolby CTOS.executesopencapabilitiesServiceson multiplearchitecturethe higherof CTOS'sIts real-timethatlevel functionsare derivedare providedto buildprocessors.enablesintegrationof the IM. MCSof motionwas codevelopedrequirements.m* MCSis seach operationandeasilyis one or twarereal-timeof MCSis ensuredby the open architecturedevelopedin a separate-- with no modificationof CTOS.As an example,CIRSSEresearchprojectwas easilyto the existantMCS core functions.collisionintegratedintodetectionMCSto runatmMCSconfigurationsystemwfile. rfor a differentis also expectedPUMAsDOFris data-driven;can be reconfiguredto enhanceare supported;transporter.of CIRSSE'smaymay be balancedof processorsthe portabilityfor instance,MCStestbedloadnumbertheimplementsbe partitionedby redistributingthroughchangestasks,or theto a configurationof MCS.CIRSSEtestbedhas3 manipulatorsa uniforminterfaceto allinto6-DOF,or two 9-DOF,threethe DOFs--so thator onetwothe1818-DOFmanipulator(s).MCShas userdesign,thislayersmof MCS.two-armabovelist stressessuch as trajectorythe modularDOFs,speedsloops andhis ownmodulehardwaremodulesandare availablerepresentsspecificallythe principleregardingupondutyLwmotionof thebe PIDthe usualThe reasonor loweras well as thosefeaturestrajectoryof thegravitystatecontrolandandto be loaded,MCSto gurationmodulecan configureof controllersystemis to highlightto specifygenerationcomponentspositioning,of a controlfor this selectivityThe experimenterdrivers,algorithmfiles are writtenversionsof validMCSDecreasingExecutionIntelligence,only statussimplyis fed backperformswhichLevelsubsystemof the manipulators.data,to decideof thethe manipulatorstatebut cisionor existanceat the Executionpresentits modularhighersuchasgeneratorand straight-lineclientinterfacemodulesIM. TheupperIM levels,change.and currentrequest;remainingconventionalCoordinator,of Increasingof an operationmakingthefor theimplementrarelyandetc.Atandthe a new controlconfigurationprocesses,Coupledwithoutof the IM.ratherlaws supported.interface.trajectories.the Motionof MCSalgorithmsynchronousstandardthatbeen standardizedMCSwuseor controlof controlotheror clientaspectslevelsof research.moduledevelopingor the higherTo set up an smethodsa wide rangeof an individualthe reseachercontrolthe architecturalof manipulatorof servoMCS supportsof CTOS.to supportmodificationcooperativegenerationnatureto all he MCS maintainsThis informationinformation,e.g.to the coordinator.the requestedoperationof thesolely throughis appropriateall detailedis accessableindicatingandand whattherereportswithinformationto the Motionthe onis no decisionresults.correctiveIt is theactionsmay
5VisionThedesigninterfaceobjectivesto theintegratedThetheServiceslowestlevelcalledby multiplecontentionimageof ToolswhichcontainonlydirectlyfrommessageVSMto the appropriatethe VSMa markerbuttypicallythe user.Serviceof initializingbeandwasto controlone managingis composedsomecallto accessingthe VMresultsoperationthatsendsthe MCSa visionthatToolsreceiveis a high-levelvia a C functionanalogousnew VMthe typesvcSpotFindtaskon a monitor,3) toolSpotFindof thecallsimageandto theVM equesthave been loadedAs shownplanin Figuresoftwareonlythoseto ensureFromon the correctthatAnotherforthatthethis list ofprocessorsare needed.advantagea masterserviceandThisandconservesof a data-drivenconfigurationVSSfile whereto identifyThreeresultsthe spotsdirectlyLevelin theLevel, addto providereal-time1, the Coordinationan image,Toolsimageand2) toolImageDispandthedoestasktheif it is in useback to its Tool.notto displayVM;hardware,at thespecificallyToolsendstimeThe tooISpotFindcall a VM.Finally,by the svcSpotFindtheto display4) toolSpotDispuse correspondinghenceis availableof Intelligentdetailsthe operationfeedbackis not successfulto the svcSpotFindMachinesToo]the cameratask.as appropriate,and communicateof the IM. In addition,to refine short-termdecisionis to interpretthe Coordinationmakingand to assistandmanageinstructionstheto theLevel monitorsreplanningwhen[10].Level of the l ,I is organizedinto a tree structure,aof theSoftwareLevel in the Theoryto coordinatethe messagedirectlyto the requestingstartsand routesof theseare sentThe requestVSM examinesof the spot,the VMrequest.to the VSM.use of a VM,untilservicea messageto capturethe locationTo obtainwill waitsendsrequest1) toolSnapmonitor.a SpotFindthatto computetheare returnedthe Organizationtaskis providedused in the application.is as easy as modifyingof visionis complete,role of the Coordinationperformancea methodVM.of processingfour Tools:VMM,Coordinationthe nominalare loaded,in initializingCoordinator)vmSpotDisp.WhenLevel in orderServicesby the exampleto determinerequest.frometc.,will load the requiredand Toolsthe VisionVMExecutionTools,on the list of Servicesthattime(e.g.for themachineA visionthecannotpast,layerfromAtare specified.taskof the spotnot VM,basedall availableis illustratedon topandsignificantinstallingVSS Servicesrequestplansin the(althoughand has the role of routingfunctionbeaccessare providedThe nexthiddenis invokedandare two VMM:the VMMin a mannerto VSS,anotherfile is builtsavesvmImageDisp,coordinatesServicesare loadedNotandcommandThewithtasks.operationthe imageTheof Services.(VSM)crashs(VMM)VSS therethroughA Serviceof accessperformssystemand VM are largelycouldmanagers.to directlypre- and post-calculationsuse of a VMManagerroutinesthe laser scanner.VM within termsof centralizedare single-threadedManagersCIRSSEmanagingto Tools.pointlibraryVMModulea convenientandon CTOS.two levelsfor VM causedVisionVMM,VSSServicesmodulesas a call by a CTOS6use of hardware,requestof callsconfigurationis thatall .withis the centralusera CTOSmessagedealsService.Services,VSScall vendor-suppliedfor MCS:of researchapplication.Becausemuserwithto thosea rangeVSS is builtthatIn the presentof Tools,supportdirectand the othermustas a seriesto theTheToolsOperationthelike MCS,a call to a correspondingthe VM.were similarcould8, is tionof VSS.hardwarecalculations).is implementedInterface.to theirconcurrently.processingcombineHence,by Figure(VM)DueprocessesConceptually,CTOSModulesfor developmentfor VM andDatacubeEVisionSystemwas desiredillustratedhardware.one motivationServiceshardwareIM architecture.of VSS,aresubsystemVisionvisioninto CIRSSE'svisionthatfor thetestbedorganizationSystemwith a Dispatcher
attherootandis ,visionfromas a whole;positionthusby visualtheanddescriptionotherfunctionsof thetoolframefreedom),of theenvironmentin realtime.a ationin firingof a transition.deterministicamountis implemented:tokenstimedelay;valuablesuch3) oncefor simulatingas boundnessPNTuandwhenarefroman inputnetswithseveralotherto invokeenablingan action,conditionaltheDispatcher"choiceoutputhas beenamongof nodesindicatethesystemsbecausein Feedbackofby therequestedDispatcherwhenturnoveris also providedmakingof the IM [16].the Coordinationto translateplaceseventLevel.Inan OrganizationNetsfor real-timeandtransitions,belowthatwhichplacesto the transition'scan be analyzedare connectedmayof theplacesrequiretransitionan action,to beof the IM.between[4] transitionscausespromisecontrolare moveda two-phasein all inputthe transitionare addedTokens(GSPN)discussedsystemsandof the PN.are tokensoptionallyof the inputthatmarkedsoftwarea localuntilhavealphabet.are resolvedPNTas a call to an enablingalternativesthetheconstraintsbe recommendeddecisionof discretePetritransitionsin thenotthedomainfor movingon currentup to the[11] to modelthe PN structurefires eitherareof a narrowfiringtransition,thatmayoutputfor desirabletheseresultplaces.arulein aPN areproperties[6].of elementsa transitionor a nofandsubtasks.calledStochasticmaybe replanned.commandsstateaplanner.a numberredundantbased[17] as a meansbehaviorLevelfires; 2) firing(contending)1) whenconditionthatis complete,of GSPNhave beenIM architecture:mactiontape composedparallelextensionsthe plishand improveLevelbyto performemployinginstancesapproachof Coordination(e.g.approachmayproposedis to receiveDispatcherusedfunctionsare passedbasesschematahave beentransitiondeadlock-freean extensionreadoperationstheto aCoordinatoruse of resources,of successIn someknowledgeuponto reliablyandfunctionvalueshave severalorientationCoordinator,the machineplanning.responsibilitywith two typesconcurrentandmotion,a manipulatorappropriatebyabstractmaya nominalare enabledthetheandto fire. For the PN software1) transitionsare removedCoordinatorwhereprimarythe deterministicWhiledecisiontokensrun-timegoals.In Generalizedof timeExecutionwithmoveto theis calledprobabilityLeveldecomposinggraphssomethe edulinghighestto updatetools for modelingmaycorrespondingbe decomposedDispatcherpositionby theinto a sequencePN are directedOrganizationmanageof the IM thatfor thein applyingCoordinator'sa finguisticfor bothby arcs [7]. Placestimemusttheto unications,Motionwithfirstto thePetria usefulare handledhave employedparticular,theandCoordinatorswiththe Dispatcher'stheseoftenand performingit is theadequatewithLevel functions,be suppliedas theinto a requestedis notresolutionthroughmustas an expertthe strategyplanner,Errorscommandshowever,For instance,can chooseorganization-levelsuggests,to dispatchsystem-wideerrors,of a manipulatorandAs its namevaluesas supportingLevel.ExecutionLevelcan be consideredExecutioninterfacefour CoordinatorsacrossLevel andreal-timeintermediate-levelsupportsis the first componentactionsis a simplification,suchAll communicationplanning.sensing.Organization[13].the Coordinatorstestbedthe DispatcherOrganizationof substepsA Coordinatormup,for implementation.correctingwand pathsequenceThiswhilethe CIRSSEcan coordinatedeterminedfromat the leavesDispatcher;the bottomandcommandsmtheLevel functions.ViewedqCoordinatorsby thetherepresentsthe dandis sentTwois usedtransitionsout2) anotherdeterministica PNTtheelement.ofinto CIRSSE'smessageto implementconditionconstructionof PNTor a CTOSconfirmsin orderAs in the case of ordinarythe set of placesintegrationis calledactionfunctionadditionvalue of the inputto allowfunctionan additionalThisandto modelrepresent
weventswhichLevel,whilechangeA CoordinationexecuteIn theof PNET-Bon subnets.Thisdisplaysis the flow of dataLevelemploysis to receivedatadataproducedon demand.associatedstudywitha placediscussedOrganizationcage,Figureand DISP-B,theseby Coordinationsubnetsstaterepresentsthe figuretaskshowsmay resideLevelPNT,withanTo supportExecutionthisLevelexistanceof PNTfromflow of dataavailabledata.dataandobjectvaliditytwo differentmanysubnets.displays.andCoordina-the CoordinationTheDOM'sroleto laterretrievethisstoredstatetothe ingby the Dispatchergloballyuse of data,attachedtheirspanningof thesearchitecturesubnetsenablesPNTby meansto maintaintwoCTOSto showand displayscommands.thethe interaction(p3 in thiscommunicateand transitionsof a complexperformedandplacesthewithconfiguredof commandsLevel andgenerationwhichwill illustratebetweenandtasktoindicatinga Coordinationof subnets,of placescan be monitored(DOM)plt2 outputsCTOSyet easilyan examplehave beenshows a subsetoperationto implementthe9 showsconnectionsplacePNET-BFor instance,architecture,workstationthatthe subnets.transitionto taskThe destinationas an assemblyDISP-Athebetweenlocal outputfires.subnetsheterogeneous,as the MCS.of a PNTDISP-C,Thisby designatingPNET-BPNET-Ato anyt3 fires.thisof manycages.PNET-Bwhiletaska transitionWithexecution.Managerin a PNTbelowwhenEthernet.and sequencingTo coordinateby theto communicatewrittenwhen transitionand CoordinatorsObjectare alsosuchsummarizerequireda DatatokensVMEto subnettl;on a VMEnamelythe decompositiondefinedbe composedandis sent froman actiontaskof many-to-manythatof the DispatcherUnderlyingandmayCTOStransitionon a UNIXof PNTcapabilitypl;compositiondisplay,by usingbe implementedTwo of the displays,displaysOperationtorstheremainingof overviewirunningPNTworkstationsis connectedof PNET-A'sto invokemayfunctionflexibledisplays.possiblePNET-Ato the CIRSSEto allowingseveraltl fires, a messageto a CTOSconnectedLevelsupportsalso be usedCoordinator,In additionplaceto placea messagethe Motionis madetransitionaddedis a reconfigurableor a Coordinator,among9 subnetoutputp2. WhenMessagesi.e. the Dispatcherin Figurehas beenDispatcherare distributedas a remotePNET-BThea fixed structure.of the PNTshownplacea evel PNT,concurrentlydistributedthatmachinethe Coordinatorsof thein theDOMobject.TheiscaseDOM.m7CaseAsStudya casealgorithmstudytheIM structuresis sin whicha lightby ,coordinates.sourcestereoand thenThefromthe OrganizationLevelLevelis omittedthis case study.fromto implemententireto the is movedfor a fixedcameracalibrationparametersare computedprocessis startedby a singlecalibrate cameraLevel Dispatcher.Therefore,operationA simpleanditsnumberoffrom the storedcommandof the of theThearrivalfires wheninit calibon thelightDispatcherof theits e cameramarkingcausesthatinputis satisfied,a localthetapespecificallyfunctioncalibrate camerato be calledthe file containingcommandwhenthatpredefinedthe robotpreparesmanipulatorcommandenablesandtheinit callbcamerafor camerapositions,is presentedtransitionare ializestheiLloopvariablePNTcontinuesinputfile, andwhichwill be checkedas the Dispatcherthenmoveslaterdecrementsthe robotby the loop againandthe loop variable,to this position.Whenloop donereadsthe nextthe onpositionof thefromthefires, the Dispatcher
minstructsthe Motionfunctioncall maybe madeMotionCoordinatorPNT,an exchangetheof tokenscase study.)markeduntilAt thislightandtheirbothwandinitializedby transitionthe mposingactivelyensurethisis outputIf transitionthe cameracantruelyparallelwhichindicatingbe performedby the markingtransitionsexaminesthatloopsimilara structuregraphcomponents.loop variableforto a whileExtentionThisloop.loop.mayof thisHowever,will fire.to a C languag
machine has been developed in recent years. This paper presents a computer architecture that implements the lower two levels of the intelligent machine. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Details of Execution Level
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