Architecture for the NBS Automated Manufacturing Research Facility (AMRF). 
<p>On the right is a hierarchical database containing process plans and control programs that define how to manufacture parts. On the left is a hierarchical database containing information about the state of the parts and machines in the AMRF. In the middle are the controllers that compute plans, sequence commands, measure results, and compute actions to compensate for errors between plans and results. 
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The arrows represent a communications system that moves information throughout the architecture
James S. Albus, National Institute of Standards and Technology, Gaithersburg, Maryland 20899
1995
<a rel="nofollow" class="external text" href="http://nvl.nist.gov/pub/nistpubs/sp958-lide/322-327.pdf">The Automated Manufacturing Research Facility</a>