Knowledge assistant for robotic environmental characterization

Technical Report · Thu Aug 01 00:00:00 EDT 1996

DOI:https://doi.org/10.2172/273817· OSTI ID:273817

Feddema, J; Rivera, J; Tucker, S; Matek, J

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 postanalysis, 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 report highlights the major components of this system.

• Research Organization: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 273817
• Report Number(s): SAND-96-1995; ON: DE96014167; TRN: 96:020926
• Resource Relation: Other Information: PBD: Aug 1996
• Country of Publication: United States
• Language: English

Related Subjects

05 NUCLEAR FUELS
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
99 MATHEMATICS
COMPUTERS
INFORMATION SCIENCE
MANAGEMENT
LAW
MISCELLANEOUS
ROBOTS
PERFORMANCE
RADIOACTIVE WASTE FACILITIES
DATA ACQUISITION
PATTERN RECOGNITION
SANDIA NATIONAL LABORATORIES
NEURAL NETWORKS
EXPERT SYSTEMS
OCCUPATIONAL SAFETY
NUCLEAR FACILITIES
ABANDONED SITES