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sensor fusion iv: control paradigms and data structures

ISBN: (纸本)0819407488

This conference procedding contains 56 papers. The topics covered are: decision models and computational methods;sensor modeling and data representation;active sensing strategies;geometric planning and visualization;task-driven sensing;motion analysis;models motivated by biology and psychology;decentralized and distributed detection;data fusion archtectures;robust estimation of shapes and features;application and implementation.

关键词： data Processing

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sensor INTEGRATION IN A BEHAVIOR-BASED ARCHITECTURE

SENSOR INTEGRATION IN A BEHAVIOR-BASED ARCHITECTURE

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sensor fusion CONF : control paradigms AND data structures

作者： BRIDGEWATER, C BARRALL, G MCGRATH, M Univ. of Reading (United Kingdom)

ISBN: (纸本)0819407488

A biologically-inspired, behavior-based architecture for the integration of sensor data used by robotics systems is introduced, and examples are given which illustrate the control of a simple mobile robot, and also a ball-catching robot. The paper also goes on to discuss the extension of the concepts for more general robotic systems. The limitations of the subsumption architecture for general robotic use are explored in the context of mobile robots.

关键词： sensors Mobile robots sensor fusion Robotic systems Computing systems control systems Visualization Eye Head Tongue

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MULTivARIATE data fusion BASED ON FIXED-GEOMETRY CONFIDENCE SETS

MULTIVARIATE DATA FUSION BASED ON FIXED-GEOMETRY CONFIDENCE ...

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sensor fusion CONF : control paradigms AND data structures

作者： KAMBEROVA, G MCKENDALL, R MINTZ, M Univ. of Pennsylvania (United States)

ISBN: (纸本)0819407488

The successful design and operation of autonomous or partially autonomous vehicles which are capable of traversing uncertain terrains requires the application of multiple sensors for tasks such as: local navigation, terrain evaluation, and feature recognition. In applications which include a teleoperation mode, there remains a serious need for local data reduction and decision-making to avoid the costly or impractical transmission of vast quantities of sensory data to a remote operator. There are several reasons to include multi-sensor fusion in a system design: (i) it allows the designer to combine intrinsically dissimilar data from several sensors to infer some property or properties of the environment, which no single sensor could otherwise obtain; and (ii) it allows the system designer to build a robust system by using partially redundant sources of noisy or otherwise uncertain information. At present, the epistemology of multi-sensor fusion is incomplete. Basic research topics include the following taskrelated issues: (i) the value of a sensor suite; (ii) the layout, positioning, and control of sensors (as agents); (iii) the marginal value of sensor information; the value of sensing-time versus some measure of error reduction, e.g., statistical efficiency; (iv) the role of sensor models, as well as a priori models of the environment; and (v) the calculus or calculi by which consistent sensor data are determined and combined. In our research on multi-sensor fusion, we have focused our attention on several of these issues. Specifically, we have studied the theory and application of robust fixed-size confidence intervals as a methodology for robust multi-sensor fusion. This work has been delineated and summarized in Kamberova and Mintz (1990) and McKendall and Mintz (1990a, 1990b). As we noted, this previous research focused on confidence intervals as opposed to the more general paradigm of confidence sets. The basic distinction here is between fusing data charact

关键词： sensors data fusion Statistical modeling data modeling sensor fusion Environmental sensing Spherical lenses 3D modeling Error analysis Performance modeling

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PURPOSivE RECOGNITION - AN ACTivE AND QUALITATivE APPROACH

PURPOSIVE RECOGNITION - AN ACTIVE AND QUALITATIVE APPROACH

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sensor fusion CONF : control paradigms AND data structures

作者： RivLIN, E ALOIMONOS, Y ROSENFELD, A Univ. of Maryland (United States)

ISBN: (纸本)0819407488

We propose an alternative way to study the problem of visual recognition which is closer to the spirit emerging from Brooks' work on building robots than to Marr's reconstructive approach. Our theory is purposive in the sense that recognition is considered in the context of an agent performing it in an environment, along with the agent's intentions that translate into a set of behaviors; it is qualitative in the sense that only partial recovery is needed; it is active in the sense that various partial recovery tasks need for recognition are achieved through active vision; and it is opportunistic in the sense that every available cue is used.

关键词： Visualization Object recognition sensor fusion sensors Robots Environmental sensing Systems modeling Visual system control systems Dynamical systems

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INFORMATION-EFFICIENT DESIGN OF ROBOTIC SYSTEMS

INFORMATION-EFFICIENT DESIGN OF ROBOTIC SYSTEMS

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sensor fusion CONF : control paradigms AND data structures

作者： MAIMON, O LAST, M Tel-Aviv Univ. (Israel) AVX Israel Ltd. (Israel)

ISBN: (纸本)0819407488

One of the main problems in constructing a supervisory robot seems to be the excess of available real-time information. The trend is to make a robot obtaining data from a lot of sensors before it takes a decision. Multiplicity of sensors increases hardware costs and control software complexity. A robot usually needs only a small part of all available information for an efficient performance. The current work will demonstrate a new approach to design of information-efficient supervisory robots. The theory combines the basic concepts of discrete event control extended to stochastic systems with some ideas of information economics. A controlled system behavior is modeled as a sequence of uncontrolled events and robot's decisions. Decisions are based on events observed by robot, and each event needs a sensor to be observed. The model provides a formal statement of the sensors selection problem. A solution procedure of the stated problem will be demonstrated, and some applications of the method to different types of robotic control will be presented.

关键词： control systems sensors Stochastic processes sensor fusion Robotics Systems modeling Robotic systems Transition metals Manufacturing Process control

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Foundations of data fusion for automation

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IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE 2003年第4期6卷 35-41页

作者： Iyengar, SS Sastry, S Balakrishnan, N Louisiana State Univ Dept Comp Sci Baton Rouge LA 70803 USA Univ Akron Dept Elect & Comp Engn Akron OH 44325 USA

This article discusses about the developing paradigms of data for sensor-actuator networks that perform engineering tasks. We provide a new foundation for data fusion based on two concepts: a conceptual framework and the goal-seeking paradigm. The conceptual framework emphasizes the dominant structures in the system. The goal-seeking paradigm is a mechanism for representing system evolution that explicitly manages uncertainty. The goal-seeking formulation for data fusion helps to distinguish between subjective decisions that can be executed by computers. These notions are useful for critical tasks, such as security management in large-scale distributed systems. Investigations in this area, and further refinement of the goal-seeking formulation for instrumentation and measurement applications, are likely to future systems that facilitate holistic user decision making.

关键词： sensor systems sensor fusion Manufacturing automation Real time systems Network synthesis data engineering Design automation Human computer interaction Automatic control control systems

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SPECIFICATION AND control OF BEHAVIORAL ROBOT PROGRAMS

SPECIFICATION AND CONTROL OF BEHAVIORAL ROBOT PROGRAMS

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sensor fusion CONF : control paradigms AND data structures

作者： KAHN, P Advanced Decision Systems (United States)

ISBN: (纸本)0819407488

Behavioral robotics is the specification and control of robots as a composition, coordination, and adaptation of more primitive sub-behaviors. The past decade has led to the development of many useful algorithms that can support valuable behavioral function in robots (e.g., perception, robotics, planning, domain rules). Increased availability of these component algorithms increases the need for robot control methods that can select between gross behaviors in addition to providing control within a given behavior. For example, gross behavioral changes may consider when and whether to attend to new stimuli, and if and how that stimuli can lead to new or different behaviors. This paper describes an approach being developed for the specification and control of these types of behavioral programs. The first section introduces a task oriented approach to behavioral robot program specification and control. The second section then describes a Behavioral Architecture for Robot Tasks (BART) being developed. A BART language is being built to provide a portable tool to support various robot programming and execution strategies, evidence accrual methods, and domain representations. This language is being used to develop behavioral programs that control tanks and tank platoons.

关键词： Foam control systems Information operations Algorithm development Computer programming Robotics sensor fusion Composites Nanoimprint lithography sensors

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AUTOMATIC FEATURE-EXTRACTION USING data fusion IN REMOTE-SENSING

AUTOMATIC FEATURE-EXTRACTION USING DATA FUSION IN REMOTE-SEN...

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sensor fusion CONF : control paradigms AND data structures

作者： HOUZELLE, S GIRAUDON, G INRIA and AEROSPATIALE (France) INRIA (France)

ISBN: (纸本)0819407488

This paper presents two examples of low level strategies using multisensor data fusion, one for bridge extraction, and one for urban area extraction. These extractions are made front a couple of coregistred Synthetic Aperture Radar (SAR) and SPOT images. These features are very different by their dimensions, their shape, and their radiometry. So we C1U prove the reliability of our approach on many types of features. Our method uses the notion of complementarity of each sensor, and the notion of context in the observed scene. For bridge detection, we first segment water in the SPOT image, to spatially constrain the bridge research in the SAR image. This research is achieved using a correlation method. To detect an urban area, we first use the knowledge that it produces very bright texture in SAR imagery. Thus, the main part of urban backscatters is extracted using an adaptative thresholding which keeps the upper band of the gray level histogram of the SAR image. This mask is then used for classification as a training set using a distance map of urban area texture in SPOT image. We determine the non urban zone training set using a distance map of the urban training zone boundaries. Classification is performed with multivariate Gaussian classifier. The results we obtained are very encouracting, especially if we consider the robustness of the bridge detection method.

关键词： Bridges Synthetic aperture radar sensors Image fusion data fusion Image segmentation sensor fusion Backscatter Ions Reliability

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ASSESSING THE PERFORMANCE OF MULTIsensor fusion SYSTEMS

ASSESSING THE PERFORMANCE OF MULTISENSOR FUSION SYSTEMS

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sensor fusion CONF : control paradigms AND data structures

作者： LLINAS, J Calspan Corp. (United States)

ISBN: (纸本)0819407488

In recent years, numerous prototypical systems have been developed for multisensor data fusion. A typical data fusion process operates on sensor parametric data (e.g., data related to target position or attribute data) in order to develop an order of battle, provide an evaluation of tactical situations, or assess tactical threats. This model, developed by the data fusion Sub- panel (DFS) of the Joint Directors of Laboratories, partitions fusion processing into four conceptual levels. Ancillary functions in a fusion system include the human computer interface, data base management, source-preprocessing functions, and communications. Military applications for data fusion span a broad range including fusion of data on board a single platform for identifying other platforms (e.g., identification--friend or foe--neutral systems), threat warning systems, situation assessment, and threat assessment systems. Large scale systems such as the All-Source Analysis System (ASAS) or the Joint Surveillance, Targeting, and Reconnaissance System (JSTARS) provide for direction, coordination, and fusion of both ground-based and airborne sensors to aid in the effective management of a ground based battlefield environment. Such systems have become ever more sophisticated. Indeed, many of the prototypical systems utilize advanced identification techniques such as knowledge-based or expert systems. Dempster-Shafer interface techniques, adaptive neural networks, and sophisticated tracking algorithms. While much research is being performed to develop and apply new algorithms and techniques, little work has been performed to determine how well such methods work or to compare alternative methods against a common problem. The issues of system performance and system effectiveness are keys to establishing how well an algorithm, technique, or collection of techniques perform, and then the extent to which these techniques may be used to achieve success on an operational mission.

关键词： data fusion sensors data modeling Telecommunications sensor fusion Detection and tracking algorithms Target detection data acquisition Computing systems Algorithm development

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Choice of coordinate systems for multiple sensor fusion

Choice of coordinate systems for multiple sensor fusion

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sensor fusion iv: control paradigms and data structures

作者： Broida, Ted J. Hughes Aircraft Co. Los Angeles CA USA

ISBN: (纸本)0819407488

fusion of kinematic measurements from spatially separated and/or independently moving sensors can be considerably simplified by judicious choice of coordinate systems. This paper discusses kinematics and issues associated with sensor-level (measurement) and central-level (fusion) coordinate systems. Compensation for sensor motion is briefly discussed and a coordinate system for angle-only tracking is discussed that avoids some of the difficulties associated with polar or spherical coordinates.

关键词： data Processing

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