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Proceedings Paper

Distributed Control In The Multi-Sensor Kernel System
Author(s): Tom Henderson; Bir Bhanu; Chuck Hansen
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Paper Abstract

The Multi-sensor Kernel System (MKS) has been introduced as a convenient mechanism for specifying multi-sensor systems and their implementations. In this paper, we demonstrate how control issues can be handled in the context of MKS. 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 scheme for controlling the Utah/MIT dextrous hand.

Paper Details

Date Published: 17 January 1985
PDF: 5 pages
Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); doi: 10.1117/12.946189
Show Author Affiliations
Tom Henderson, The University of Utah (United States)
Bir Bhanu, The University of Utah (United States)
Chuck Hansen, The University of Utah (United States)


Published in SPIE Proceedings Vol. 0521:
Intelligent Robots and Computer Vision
David P. Casasent; Ernest L. Hall, Editor(s)

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