Knowledge assistant: A sensor fusion framework for robotic environmental characterization

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A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and post analysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neural ... continued below

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9 p.

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Feddema, J.T.; Rivera, J.J. & Tucker, S.D. December 1, 1996.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and post analysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neural network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g. estimated dimensions, weight, material composition, etc.) are displayed in the world model. This paper highlights the major components of this system.

Physical Description

9 p.

Notes

OSTI as DE96015189

Source

  • 1996 Institute of Electrical and Electronics Engineers/SICE/RSJ international conference on multisensor fusion and integration for intelligent systems, Washington, DC (United States), 8-11 Dec 1996

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  • Other: DE96015189
  • Report No.: SAND--96-2306C
  • Report No.: CONF-961214--2
  • Grant Number: AC04-94AL85000
  • DOI: 10.2172/273817 | External Link
  • Office of Scientific & Technical Information Report Number: 402367
  • Archival Resource Key: ark:/67531/metadc679658

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Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • December 1, 1996

Added to The UNT Digital Library

  • July 25, 2015, 2:20 a.m.

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  • April 14, 2016, 4:15 p.m.

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Feddema, J.T.; Rivera, J.J. & Tucker, S.D. Knowledge assistant: A sensor fusion framework for robotic environmental characterization, article, December 1, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc679658/: accessed September 24, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.