A term used when referring to a robotic control concept, developed by Rodney Brooks, which is strongly associated with Behavior-based robotics, a branch of robotics research that incorporates modular Behavior Based AI Whereas traditional Artificial Intelligence tends to rely on a centralized, top down, planning, execution and monitoring structur
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e, subsumption architecture is a distributed, bottom up, reflexive approach to robot control. Subsumption Architecture breaks complicated intelligent behaviors into many "simple" behavior modules. These modules are in turn organized into layers, each layer implementing a particular goal of the robot. Higher layers become increasingly more abstract with each layer subsuming the goals of the layers below it. This means for instance that a decision to move made by the Explore layer (see Figure 1 ) must take into account the decision of the ` Follow Light layer directly below it, as well as the lowest layer labeled Avoid Obstacle. Each layer can access all of the sensor data and generates commands for the actuators. And each separate tasks can suppress (or overrule) inputs or inhibit outputs. This way, the lowest layers can work like fast-adapting mechanisms ( reflexes ), while the higher layers work to achieve the overall goal. The idea of of merging BEAM circuits with subsumption architecture goes way back to the earliest days of BEAM Robotics. As proof, note that the following quote from Mark W. Tilden, which dates back to Oct of 1996. {Mark Tilden|Mark] made these comments in a post he sent to the original BEAM email list, in response to another post about using a Tilden -esque nervous net as the lowest layer in a Brooks -style subsumption architecture . When I first started reading Brooks, I immediately built a variety of...
This project fits more for custom made battery casing that can have more space to hide things inside. This switch with few alterations can be used for any other project as well but is designed based on e-bike needs! This project use a clever functionality of....
The circuit described here uses ultrasonic oscillations and operates based on the propagation velocity of these oscillations in the air. Thus, we can easily determine the distance of two points if the time within which the wave travels this distance is....
Sometimes the precious metals are hidden too deep and are not detected except with complicated devices. In many cases, however, small pieces of precious metal buried near the surface can be detected by relatively simple means. Everyone is very attractive to....
Many times for various reasons we forget or can not water the plants that we have in our homes. And many humidity sensors units just notify us with a beeping sound or with a flashing light, that the pot needs watering. But what if we are away from home? This....
The principle behind a metal detector is really very simple. Proof of this is the circuit that follows, in which it proves that the construction of a metal detector can be done in the minute, with few components that we find very easily everywhere. With the....
The sub-harmonic bass generator is a sound producing unit for guitars. The sound it produces looks very much like that of the bass guitar. The octave generator is sometimes quite unusual since it does not produce any of the usual ways of coloring the sound,....
In the past the sounding (sea bottom measurement) was done with the "bullet", that is, with a heavy lead object that the seamen plucked into the sea hung from a calibrated rope. As soon as the "bullet" reached the bottom, the depth appeared directly from the....
This Amplifier was designed to have the following specifications: Distortion less than 0.1% at full power of 100W even at 20KHz. Power has to be attributed to an extended bandwidth. The output transistors must be protected against short circuits. The power....
A series of LEDs serve to alert the gardener when plants need water. Using two conventional digital integrated LEDs and a series of LEDs, we make a very useful device for gardening. The device detects the amount of water in the pot and alerts the grower.....
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