Publication | Closed Access
Data Storage in the Cerebellar Model Articulation Controller (CMAC)
712
Citations
0
References
1975
Year
EngineeringMemory DesignComputer ArchitectureCm Ac MemoryMotor ControlNext Higher LevelMemory Model (Programming)Data StorageControl SystemsHardware DesignComputing SystemsSystems EngineeringAdaptive MemoryMemory ManagementHealth SciencesControl AlgorithmsNeuroinformaticsComputer EngineeringSensorimotor IntegrationCm Ac SystemComputational NeuroscienceMotor SystemAutomationProcess ControlStorage AssignmentNeuroscienceCentral Nervous SystemRoboticsControl Structure
The CMAC system naturally partitions control problems into manageable subproblems, and several loading techniques exist that depend on the amount of data already stored and the desired accuracy. Control functions are stored in CMAC memory through an iterative, level‑by‑level training process that converges for smooth functions, with each level translating higher‑level commands into lower‑level instructions and requiring completion before proceeding upward.
The storage of manipulator control functions in the CM AC memory is accomplished by an iterative process which, if the control function is sufficiently smooth, will converge. There are several different techniques for loading the CM AC memory depending on the amount of data which has already been stored and the degree of accuracy which is desired. The CM AC system lends itself to a “natural” partitioning of the control problem into manageable subproblems. At each level the CM AC controller translates commands from the next higher level into sequences of instructions to the next lower level. Data storage, or training, is accomplished first at the lowest level and must be completed, or nearly so, at each level before it can be initiated at the next higher level.