Intelligent system controller for remote systems

Summary form only given. The US Department of Energy´s Office of Technology Development (OTD) has sponsored the development of the Generic Intelligent System Controller (GISC) for application to remote system control. Of primary interest to the OTD is the development of technologies which result in faster, safer, and cheaper clean up of hazardous waste sites. The GISC development project supports these goals by seeking to develop a modular robotic control system which reduces the time and cost of development by allowing reuse of control system software and uses computer models to improve the safety of remote site clean-up. GISC is termed an intelligent control system because computer models reduce development time by automating much of the system programming, and they monitor all operations for safety. Intelligent decision making algorithms evaluate the known environment represented by a world model, plan collision-free robot motions, and then automatically generate the robot command sequences necessary to execute the desired robot motions. Visualization software technologies provides the operator of the robot system with animated graphic displays of the computer´s knowledge base.<>