Tham khảo tài liệu 'an introduction to intelligent and autonomous control-chapter 14: modeling of multisensory robotic systems with failure diagnostic capabilities', công nghệ thông tin, quản trị web phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 14 MODELING OF MULTISENSORY ROBOTIC SYSTEMS WITH FAILURE DIAGNOSTIC CAPABILITIES Guna Seetharaman and Kimon P. Valavanis The Center for Advanced Computer Studies University of Southwestern Louisiana Lafayette LA 70504-4330 guna kimon @ ABSTRACT A multisensory robotic system MRS consists of a central high-level computer one or more robotic manipulators with dedicated computer controllers and a set of diverse visual and non visual sensors. The intelligent adaptive and autonomous behaviour of an MRS depends heavily on its ability to perceive and respond to the dynamic events that take place in its work environment. At any given instance various factors such as payload variations the position shape orientation and motion of independently moving objects may affect the course of action taken by the MRS. The information required to detect potential failures to distinguish between temporary failures hard or soft and to accommodate failures is extracted from a diverse set of data. Complete perception is made possible through sensor fusion of the data information derived from the system s diverse set of sensors. The chapter models the MRS as a hierarchical system with bidirectional interaction and focusses on the function and complexity of the vision subsystems. Various conditions that may cause the vision system to fail are illustrated. The problems involved in fusing and registering multisensory data are explained. The design of a new hybrid range and intensity sensor is explained. A VLSI architecture suitable for an MRS is also described. 350 INTELLIGENT AND AUTONOMOUS CONTROL 1. INTRODUCTION A multisensory robotic system may be modeled as a three interactive level system of organization coordination and execution of tasks a common structure of hierarchical systems 1 . The communication within the hierarchy is kept bidirectional to facilitate processing of the feedback signals. Given a user command the system formulates plan candidates based on prior .
