The specification of distributed sensing and control

descriptionPublicationkeyboard_double_arrow_right Article 01 Dec 1985 English Publisher:WileyJournal:Journal of Robotic Systems, volume 2, pages 387-396 (issn: 0741-2223, eissn: 1097-4563,

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Authors: Tom Henderson; Chuck Hansen; Bir Bhanu;

doi: 10.1002/rob.4620020405

The specification of distributed sensing and control

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Abstract

AbstractLogical Sensor System Specification (LSS) has been introduced as a convenient means for specifying multi‐sensor systems and their implementations. In this article we demonstrate how control issues can be handled in the context of LSS. In particular, the Logical Sensor Specification is extended to include a control mechanism which permits control information to (1) flow from more centralized processing to more peripheral processes, and (2) be generated locally in the logical sensor by means of a micro‐expert system specific to the interface represented by the given logical sensor. Examples are given including a proposed scheme for controlling the Utah/MIT dextrous hand.

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