The Dynamic I/O Channels selectively focus attention for AIS, so the Dynamic Control Architecture does not get bogged down handling I/O. It operates asynchronously and concurrently with the DCA, so there are manifest savings. The Asynchronous I/O Subsystem directly benefits from the filtering.
Sensor input is handled by preprocessors which selectively pass information on based on a perceptual fitler. Actions are given from the DCA to the actuators via drivers, which asynchronously interpret actions according to the performance filter.