Visual observation under uncertainty as a discrete event process

摘要

The problem of development and implementation of a discrete eventdynamic system observer for a moving agent is considered. The authorspresent a modeling approach for the visual system and its observer,where the `events' are defined as ranges on parameter subsets. Inparticular, the proposed system is used for observing a manipulationprocess, where a robot hand manipulates an object. the hand/objectinteraction is recognised over time and a stabilizing observer isconstructed. The resulting robot arm behavior is constructed as a hybridintelligent mechanism. The work examines closely the possibilities forerrors, mistakes and uncertainties in the manipulation system, observerconstruction process and event identification mechanisms. Some resultsfrom a sequence of a peg-in-hole operation are documented