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Modeling and Constructing an Observer

A DEDS framework is used to model the tasks that the autonomous observer system executes. This model is used as a high level structuring technique to preserve and make use of the information we know about the way in which a mechanical part should be explored. The state and event description is associated with different visual cues; for example, appearance of objects, specific 3-D movements and structures, interaction between the touching probe and part, and occlusions. A DEDS observer serves as an intelligent sensing module that utilizes existing information about the tasks and the environment to make informed tracking and correction movements and autonomous decisions regarding the state of the system.

To be able to determine the current state of the system we need to observe the sequence of events occurring in the system and make decisions regarding the state of the automaton. State ambiguities are allowed to occur, however, they are required to be resolvable after a bounded interval of events. In a strongly output stabilizable system, the state of the system is known at bounded intervals and allowable events can be controlled (enabled or disabled) in a way that ensures return in a bounded interval to one of a desired and known set of states.

One of the objectives is to make the system strongly output stabilizable and/or construct an observer to satisfy specific task-oriented visual requirements. Many 2-D visual cues for estimating 3-D world behavior can be used. Examples include: image motion, shadows, color and boundary information. The uncertainty in the sensor acquisition procedure and in the image processing mechanisms are taken into consideration to compute the world uncertainty.
Tue Nov 22 21:30:54 MST 1994