Ima: the intelligent machine architecture

Approved: Date: ACKNOWLEDGEMENTS I thank Dr. K. Kawamura for believing in my ideas enough to let me lead his robotics lab into the new area of architecture-driven software design. I thank my committee for their comments, reviews and suggestions that contributed to this effort. I thank my wonderful wife, Ruth, for putting up with me during this very long journey. Finally, I thank God for the ability and the inspiration to develop new contributions to the area of robotics. He has continually guided me back to the idea of robots and I pray that this work will contribute in some small way to the development of service robots that relieve pain and suffering, aid those in need of assistance, or provide companionship to those who are alone.

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