Embedded command and control infrastructures for intelligent autonomous systems
Embedded command and control infrastructures for intelligent autonomous systems
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用于智能自主系统的嵌入式命令和控制基础设施
DOI：
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发表时间：
1994
期刊：
影响因子：
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通讯作者：
R. Fraser
中科院分区：
文献类型：
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作者：
R. Fraser
指挥与控制问题（C2）通常与大规模战争，公用事业和公共交通的大规模系统的管理基础架构有关，并且与确保可以将指挥和控制的分布式人类元素完全集成到连贯性中，总系统。智能自主系统（IAS）是一类复杂的系统，它们在不确定的动态环境中自主执行任务，从嵌入式命令和控制系统的角度可以查看其管理。本文为智能自动嵌入式C2系统模块化构建建立了一个愿景，该系统定义了一个复杂的集成问题，其特征是分布式智能，世界知识和控制，异质平台上的同时处理以及实时性能要求。它得出的结论是，通过基于对象技术采用适当的系统基础架构模型，可以将嵌入式C2系统的构造视为可重复使用的组件的时间组装集合。为了支持此隐喻，有必要为模块化C2系统的表示和规范构建一个常见的参考模型或标准框架。该框架必须支持系统能力的连贯的长期发展和演变，以确保系统可扩展，健壮并正确执行。在这项研究中，将其他已发表研究的主题汇总在一起，以对象导向系统和机器人技术的方式，使用智能系统体系结构的经典AI模型来指定整体系统结构，开放系统技术支持体系结构中元素的互动。该系统的所有元素均以对象（具有明确的实现独立接口）为模型。这种方法使系统可以根据对象模型指定，并且可以根据对象技术构建开发过程，从而定义了一种新的IAS开发方法。用于自动水下车辆的车载命令和控制系统的实现用于验证这些概念。新兴工业标准在分布式对象的系统中的进一步应用意味着，这种基于组件的集成是可扩展的，为通用命令和控制问题提供了近期的解决方案，包括计算机集成制造和大规模自主系统，在该系统中诸如机器人之类的系统形成了一个完整的，全智能系统的元素，以应用于全自动工厂和合作建筑工地的智能自动驾驶汽车等领域。
The issue of Command and Control (C2) is generally associated with the management infrastructure of large scale systems for warfare, public utilities and public transportation, and is concerned with ensuring that the distributed human elements of command and control can be fully integrated into a coherent, total system. Intelligent Autonomous Systems (IASs) are a class of complex systems that perform tasks autonomously in uncertain, dynamic environments, the management of which can be viewed from the perspective of embedded command and control systems. This thesis establishes a vision for the modular construction of intelligent autonomous embedded C2 systems, which defines a complex integration problem characterised by distributed intelligence, world knowledge and control, concurrent processing on heterogeneous platforms, and real-time performance requirements. It concludes that by adopting an appropriate systems infrastructure model, based on Object Technology, it is possible to view the construction of embedded C2 systems as the integration of a temporally assembled collection of reusable components. To support this metaphor it is necessary to construct a common reference model, or standards framework, for the representation and specification of modular C2 systems. This framework must support the coherent long term development and evolution in system capability, ensuring that systems are extensible, robust and perform correctly. In this research, which draws together the themes of other published research in object oriented systems and robotics, classical AI models for intelligent systems architectures are used to specify the overall system structure, with open systems technologies supporting the interoperation of elements within the architecture. All elements of this system are modelled in terms of objects, with well defined, implementation independent interfaces. This approach enables the system to be specified in terms of an object model, and the development process to be framed in terms of object technology, defining a new approach to IAS development. The implementation of an On-board Command and Control System for an Autonomous Underwater Vehicle is used to validate these concepts. The further application of emergent industrial standards in distributed object oriented systems means that this kind of component-based integration is scaleable, providing a near-term solution to generic command and control problems, including Computer Integrated Manufacturing and large scale autonomous systems, where individual autonomous systems, such as robots, form elements of a complete, total intelligent system, for application to areas such as fully automated factories and cooperating intelligent autonomous vehicles for construction sites.