figure 1 A node in the ISAM reference model architecture
figure 2 Interfaces between BG, WM, SP, and VJ
figure 3 An ISAM reference model architecture for a machining center
figure 4 Internal structure of Behavior Generation (BG) units
figure 5 A task plan for a BG with three agents
figure 6 Two forms of plan representations
figure 7 The diagram of planning operations within a BG process
figure 8 The inner structure of the Executor (EX) process
figure 9 A timing diagram
figure 10 World Modeling (WM) and Value Judgment (VJ) processes
figure 11 Relationships within a single node of the ISAM architecture
figure 12 An Elementary Loop of Functioning
figure 13 An Elementary Loop with 2 Control Levels
figure 14 Three aspects of the ISAM reference model
figure 15 A computational hierarchy
figure 16 An elementary RCS_MODUL
figure 17 A pair of NML communications channels