4D-RCS Reference Model Architecture: Difference between revisions

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Revision as of 23:32, 23 January 2020

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===4D/RCS control loop===

[[File:4D-RCS control loop basic internal structure.jpg|thumb|360px|4D-RCS control loop basic internal structure.]]

At the heart of the control loop through each node is the world model, which provides the node with an internal model of the external world. The world model provides a site for data fusion, acts as a buffer between perception and behavior, and supports both sensory process-ingprocessing and behavior generation.<ref name="Albus06"/>

A high level diagram of the internal structure of the world model and value judgment system is shown in the figure. Within the knowledge database, iconic information (images and maps) is linked to each other and to symbolic information (entities and events). Situations and relationships between entities, events, images, and maps are represented by pointers. Pointers that link symbolic data struc-turesstructures to each other form syntactic, semantic, causal, and situational networks. Pointers that link symbolic data structures to regions in images and maps provide symbol grounding and enable the world model to project its understanding of reality onto the physical world.<ref name="Albus06"/>

My daughter thinks this is unreliable, shes right.

A high level diagram of the internal structure of the world model and value judgment system is shown in the figure. Within the knowledge database, iconic information (images and maps) is linked to each other and to symbolic information (entities and events). Situations and relationships between entities, events, images, and maps are represented by pointers. Pointers that link symbolic data struc-tures to each other form syntactic, semantic, causal, and situational networks. Pointers that link symbolic data structures to regions in images and maps provide symbol grounding and enable the world model to project its understanding of reality onto the physical world.<ref name="Albus06"/>

Sensory processing performs the functions of windowing, grouping, computation, estimation, and classification on input from sensors. World modeling maintains knowledge in the form of images, maps, entities, and events with states, attributes, and values. Relationships between images, maps, entities, and events are defined by pointers. These relationships include class membership, ontologies, situations, and inheritance. Value judgment provides criteria for decision making. Behavior generation is responsible for planning and execution of behaviors.<ref name="Albus02"/>