We shall be using a robot arm (a PUMA 560), a vision sensor (B/W CCD camera) mounted on the end effector and a coordinate measuring machine (CMM) with the necessary software interfaces to a Sun Sparcstation as the sensing devices. A DRFSM DEDS algorithm will be used to coordinate the movement of the robot sensor and the CMM. We have some experience in formulating observers using DEDS [26]. DEDS are suitable for modeling robotic observers as they provide a means for tracking the continuous, discrete and symbolic aspects of the scene under consideration [3,20,21]. Feedback will be provided to the robot arm, based on visual observations, so that the object(s) under consideration can be explored [8,14,26]. The DEDS control algorithm will also guide the CMM to the relevant parts of the objects that need to be explored in more detail (curves, holes, complex structures, etc). Thus the DEDS controller will be able to model, report, and guide the robot and the CMM to reposition intelligently in order to recover the structure and shape parameters.