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Highly Redundant Sensing in Robotic Systems

  • Conference proceedings
  • © 1990

Overview

Editors:
  1. Julius T. Tou

    1. Center for Information Research, University of Florida, Gainesville, USA

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  2. Jens G. Balchen

    1. Division of Engineering Cybernetics, Norwegian Institute of Technology, University of Trondheim, Trondheim, Norway

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    You can also search for this editor in PubMed   Google Scholar

Part of the book series: NATO ASI Subseries F: (NATO ASI F, volume 58)

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Table of contents (17 papers)

  1. Front Matter

    Pages I-X
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  2. General Theory and Overview

    1. Front Matter

      Pages 1-1
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    2. A Knowledge-based System for Redundant and Multi Sensing in Intelligent Robots

      • Julius T. Tou
      Pages 3-20

    3. An Overview of Visual and Tactile Sensor Technology

      • Alan Pugh
      Pages 21-31

  4. Specific Data Fusion Approaches and Examples

    1. Front Matter

      Pages 43-43
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    2. The multisensory system of the KAMRO robot

      • J. Raczkowsky, U. Rembold
      Pages 45-54

    3. Multi-Sensor Integration for Fine Manipulation

      • M. Bergamasco, P. Dario, A. Bicchi, G. Buttazzo
      Pages 55-66

    4. Hierarchical Robot Multi-Sensor Data Fusion System

      • Ren C. Luo, Min-Hsiung Lin
      Pages 67-86

    5. A Phenomenological Approach to Thermal and Visual Sensor Fusion

      • N. Nandhakumar, J. K. Aggarwal
      Pages 87-101

    6. Tools for Multisensor Data Fusion in Autonomous Robots

      • S. Y. Harmon
      Pages 103-125

    7. High Speed Trinocular Stereo for Mobile-Robot Navigation

      • Charles Hansen, Nicholas Ayache, Francis Lustman
      Pages 127-146

  5. Circuits and System Design

    1. Front Matter

      Pages 147-147
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    2. Using VLSI Circuits for Optimal Signal Handling in Multisensorial Robotic Systems

      • Peter Röjder, Alexander Lauber
      Pages 149-156

    3. Compact Pyramidal Architectures

      • V. Cantoni, M. Ferretti, M. Savini
      Pages 157-174

  6. Control Concepts

    1. Front Matter

      Pages 175-175
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    2. On the Phenomenon of High Redundancy in Robotic Perception

      • A. Meystel
      Pages 177-250

    3. Self-Organizing Sensory Systems

      • Gerardo Beni, Jing Wang
      Pages 251-262

    4. Structural Solution of Highly Redundant Sensing in Robotic Systems

      • Jens G. Balchen, Fredrik Dessen
      Pages 263-275
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Keywords

About this book

Design of intelligent robots is one of the most important endeavors in robotics research today. The key to intelligent robot design lies in sensory systems for robotic control and manipulation. In an unstructural environment, robotic sensing translates measurements and characteristics of the environment and working objects into useful information. A robotic system is usually equipped with a variety of sensors to perform redundant sensing and achieve data fusion. This book contains revised versions of papers presented at a NATO Advanced Research Workshop held in Florida in September 1989 within the activities of the NATO Special Programme on Sensory Systems for Robotic Control. The fundamental issues addressed in this volume were: - Theory and techniques, including knowledge-based systems, geometrical fusion, Boolean fusion, probabilistic fusion, feature-based fusion, error-estimation approach, and Markov process modeling. - General concepts, including microscopic redundancy at the sensory element level, macroscopic redundancy at the sensory system level, parallel redundancy, and standby redundancy. - Implementation and application, including robotic control, sensory technology, robotic assembly, robot fingers, sensory signal processing, sensory system integration, and PAPIA architecture. - Biological analogies, including neural nets, pattern recognition, low-level fusion, and motor learning.

Editors and Affiliations

  • Center for Information Research, University of Florida, Gainesville, USA

    Julius T. Tou

  • Division of Engineering Cybernetics, Norwegian Institute of Technology, University of Trondheim, Trondheim, Norway

    Jens G. Balchen

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