Autonomy is the core capability of future systems, and architecture design is one of the critical issues in system development and implementation. To discuss the architecture of autonomous systems in the future, this paper reviews the developing progress of architectures from automation systems to autonomous systems. Firstly, the autonomy and autonomous systems in different fields are summarized. The article classifies and summarizes the architecture of typical automated systems and infer three suggestions for building an autonomous system architecture: extensibility, evolvability, and collaborability. Accordingly, this paper builds an autonomous waterborne transportation system, and the architecture is composed of the object layer, cyberspace layer, cognition layer, and application layer, the proposed suggestions made in the construction of the architecture are reflected in the inter-relationships at all layers. Through the cooperation of four layers, the autonomous waterborne transportation system can autonomously complete the system functions, such as system control and transportation service. In the end, the characteristics of autonomous systems are concluded, from which the future primary research directions and the challenges of autonomous systems are provided.

The reuse of industrial silicate solid wastes, including fly ash, slag, and waste rubber, is one of the most significant environmental and economic concerns worldwide