| Exploration based on Neural Networks with Applications in Manipulator Control (2007) | |||||||||||||||
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| ion . . . . . . . . . . . . . . . . . . . . . 25 4 The Controller Layer 29 4.1 The Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.2 Mechanisms for Safety and Reliability . . . . . . . . . . . . . . . . . . . 33 4.3 Interfacing with Other Processes . . . . . . . . . . . . . . . . . . . . . . 34 ii Contents 4.4 Implementation Details . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.5 A Visual Controller Interface . . . . . . . . . . . . . . . . . . . . . . . . 37 4.6 Performance Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 5 The State Machine Layer 43 5.1 The Programming Principle . . . . . . . . . . . . . . . . . . . . . . . . . 43 5.2 States and State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.3 Implementation Details . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 5.4 An Example State Graph . . . . . . . . . . . . . . . . . . . . . . . . . . 47 5.5 Interleaving State Machines . . . . . . .... | |||||||||||||||
Publication details | |||||||||||||||
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