A Perception Framework Previous:

A Perception Framework

Introduction

In this work we construct a framework for solving a class of inspection and reverse engineering problems. We use an agent to sense the environment and to feed the relevant data to a control module that makes design and sensing strategy choices. We use a recursive dynamic strategy for exploring machine parts. A discrete event dynamic system (DEDS) framework is designed for modeling and structuring the sensing and control problems. The dynamic recursive context for finite state machines (DRFSM) is introduced as a new DEDS tool for utilizing the recursive nature of the mechanical parts under consideration.

The autonomous sensing system can be modeled efficiently within a DEDS framework. DEDS are dynamic systems in which the use of discrete control events ensure stability and observability [1]. It is possible to control and observe hybrid systems (systems that involve continuous, discrete and symbolic parameters) under uncertainty using DEDS formulations [1,2]. The Dynamic Recursive Context for Finite State Machines (DRFSM) is a new methodology to represent and implement multi-level recursive processes using systematic implementation techniques. By multi-level process we mean any processing operations that are done repetitively with different parameters. DRFSM has proved to be a very efficient way for solving many complicated problems in the inspection paradigm using an easy notation and a straight forward implementation, especially for objects that have similar multi-level structures with different parameters (like machine parts, which have closed contours that can be explored recursively as new parts.) The main idea of the DRFSM is to reuse the conventional DEDS Finite State Machine for a new level after changing some of the transition parameters. After exploring this level, the DRFSM DEDS will retake its old parameters and continue exploring the previous levels.

We design an automatic interface that transforms visually sensed data into a CAD model for subsequent inspection and/or manufacturing. We also modify an existing graphical reactive behavior design tool to facilitate the construction of software DRFSM DEDS controllers.

A Perception Framework Previous:

A Perception Framework