Real time transputer based intelligent robot control system design

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Intelligent control is a new field of research that aims to integrate artificial intelligence, operational research and control concepts in order to respond to the increasing complexity and demands of the processes to be controlled. a suitable architecture based on a cooperation concept which accommodates robustness, reactivity and adaptability is proposed using an open system architecture, concurrency and object oriented design paradigms. the fundamental component in this architecture is defined by an actor the structure of which reflects its intelligent behaviour. the actor structure is shown to be versatile enough to allow the integration of both numerical and symbolic processing. à design procedure using a dual behavioural and hierarchical approach is developed. real time and concurrency are built-in features of the transputer. inter transputer communication is identified to be a major performance set back and a communication networking scheme is proposed to circumvent this problem. à process shell using the 'occam' language is proposed as the implementation vehicle of the concurrent objects.