NATIONAL BUREAU OF STANDARDS The National Bureau of Standards' was established by an act of Congress March 3, 1901. The Bureau's overall goal is to strengthen and advance the Nation's science and technology and facilitate their effective application for public benefit. To this end, the Bureau conducts research and provides: (1) a basis for the Nation's physical measurement system, (2) scientific and technological services for industry and government, (3) a technical basis for equity in trade, and (4) technical services to promote public safety. The Bureau consists of the Institute for Basic Standards, the Institute for Materials Research, the Institute for Applied Technology, the Institute for Computer Sciences and Technology, the Office for Information Programs, and the Office of Experimental Technology Incentives Program. THE INSTITUTE FOR BASIC STANDARDS provides the central basis within the United States of a complete and consistent system of physical measurement; coordinates that system with measurement systems of other nations; and furnishes essential services leading to accurate and uniform physical measurements throughout the Nation's scientific community, industry, and commerce. The Institute consists of the Office of Measurement Services, and the following center and divisions: - Optical Physics - Center for Radiation Research Electromagnetics2 - Time and Frequency'. Applied Mathematics - Electricity oratory Astrophysics - Cryogenics Mechanics Heat Lab THE INSTITUTE FOR MATERIALS RESEARCH conducts materials research leading to improved methods of measurement, standards, and data on the properties of well-characterized materials needed by industry, commerce, educational institutions, and Government; provides advisory and research services to other Government agencies; and develops, produces, and distributes standard reference materials. The Institute consists of the Office of Standard Reference Materials, the Office of Air and Water Measurement, and the following divisions: Analytical Chemistry Polymers Metallurgy Inorganic Materials Reactor Radiation - Physical Chemistry. THE INSTITUTE FOR APPLIED TECHNOLOGY provides technical services developing and promoting the use of available technology; cooperates with public and private organizations in developing technological standards, codes, and test methods; and provides technical advice services, and information to Government agencies and the public. The Institute consists of the following divisions and centers: Standards Application and Analysis - Electronic Technology - Center for Consumer Product Technology: Product Systems Analysis; Product Engineering Center for Building Technology: Structures, Materials, and Safety; Building Environment; Technical Evaluation and Application Center for Fire Research: Fire Science; Fire Safety Engineering. THE INSTITUTE FOR COMPUTER SCIENCES AND TECHNOLOGY conducts research and provides technical services designed to aid Government agencies in improving cost effectiveness in the conduct of their programs through the selection, acquisition, and effective utilization of automatic data processing equipment; and serves as the principal focus wthin the executive branch for the development of Federal standards for automatic data processing equipment, techniques, and computer languages. The Institute consist of the following divisions: Computer Services Systems and Software Computer Systems Engineering Information Technology. THE OFFICE OF EXPERIMENTAL TECHNOLOGY INCENTIVES PROGRAM seeks to affect public policy and process to facilitate technological change in the private sector by examining and experimenting with Government policies and practices in order to identify and remove Government-related barriers and to correct inherent market imperfections that impede the innovation process. THE OFFICE FOR INFORMATION PROGRAMS promotes optimum dissemination and accessibility of scientific information generated within NBS; promotes the development of the National Standard Reference Data System and a system of information analysis centers dealing with the broader aspects of the National Measurement System; provides appropriate services to ensure that the NBS staff has optimum accessibility to the scientific information of the world. The Office consists of the following organizational units: Office of Standard Reference Data Office of Information Activities - Office of Technical Publications - Office of International Relations. 1 Headquarters and Laboratories at Gaithersburg, Maryland, unless otherwise noted; mailing address Washington, D.C. 20234. 2 Located at Boulder, Colorado 80302. Library U.S. DEPARTMENT OF COMMERCE, Juanita M. Kreps, Secretary Dr. Sidney Harman, Under Secretary Jordan J. Baruch, Assistant Secretary for Science and Technology NATIONAL BUREAU OF STANDARDS, Ernest Ambler, Acting Director Reports on Computer Science and Technology The National Bureau of Standards has a special responsibility within the Federal Government for computer science and technology activities. The programs of the NBS Institute for Computer Sciences and Technology are designed to provide ADP standards, guidelines, and technical advisory services to improve the effectiveness of computer utilization in the Federal sector, and to perform appropriate research and development efforts as foundation for such activities and programs. This publication series will report these NBS efforts to the Federal computer community as well as to interested specialists in the academic and private sectors. Those wishing to receive notices of publications in this series should complete and return the form at the end of this publication. National Bureau of Standards Special Publication 500-23 Nat. Bur. Stand. (U.S.), Spec. Publ. 500-23, 227 pages (Dec. 1977) Library of Congress Cataloging in Publication Data Barbera, Anthony J. An architecture for a robot hierarchical control system. Supt. of Docs. no.: C13.10:500-23 1. Robots, Industrial. I. Title. II. Series. III. Series: United States. National Bureau of Standards. Special publication; 500-23. QC100.U57 no. 500-23 [T59.4] 602'.1s 629.8'92 77-17960 U.S. GOVERNMENT PRINTING OFFICE For sale by the Superintendent of Documents, U.S. Government Printing Office, Washington, D.C. 20402 Price $4.25 Stock No. 003-003-01874-1 |