Needs for sensor fusion

quartercircleΤεχνίτη Νοημοσύνη και Ρομποτική

14 Νοε 2013 (πριν από 3 χρόνια και 9 μήνες)

70 εμφανίσεις

«

La Spirale

» 1957
-

Germaine Richier

ECOLE NORMALE SUPERIEURE DE CACHAN

61, avenue du Président Wilson 94235 Cachan Cedex
-

France
-

Tel. : 33 1 47 40 20 00
-

http://www.ens
-
cachan.fr

Some examples:


Non destructive control
(large variety of geometrical, mechanical, thermal,…
determinations
, through photonics measurements, in the form of
surface fields)


Investigation of human brain activity
(local field potentials, MEG, functional NMR,

fluorescence, laser microscopy,…)


Robotics and C3I
(including defense applications, spatial observation of earth

Global Monitoring Environmental Security
-
, navigation,…collective behaviors
)


Man
-
machine Interface
(including neural control of prothesis or environment)


One general trend:

the overwhelming importance of internal models
(the only way to cope with
heterogeneous sensors):

«

multiple clones of
Virtual Reality

within the process

»


A new tool for investigating sensor fusion:

the study of
illusions





Needs for sensor fusion

«

La Spirale

» 1957
-

Germaine Richier

ECOLE NORMALE SUPERIEURE DE CACHAN

61, avenue du Président Wilson 94235 Cachan Cedex
-

France
-

Tel. : 33 1 47 40 20 00
-

http://www.ens
-
cachan.fr

Needs for sensor fusion

Architectures and artefacts

Sensor fusion inside the brain: how do we make use of
redundancies

?

hereafter head angular velocity, eyes’ movements, vection and direction of gravity

«

La Spirale

» 1957
-

Germaine Richier

ECOLE NORMALE SUPERIEURE DE CACHAN

61, avenue du Président Wilson 94235 Cachan Cedex
-

France
-

Tel. : 33 1 47 40 20 00
-

http://www.ens
-
cachan.fr

Needs for sensor fusion

A new challenge for sensor fusion:
Virtual Reality

for cheap


Recipe:

. Accept man as he/she is as the fusion (post
-
) processor

. Mediate the outside world (environment of a production task, of chirurgical
actions…) via Virtual Reality

.
pre
-
process VR so as to make the best profit out of the shortcuts or shortcomings
of brain’s internal representations


The issue at stake:

Simpler (and
more economical
) hardware

interfaces

(e.g. isometric instead of
isotonic haptic device, in conjunstion with vision)


Prerequisite:

In depth
study of perceptual illusions

(3D, haptic,…)

See for instance recent work by LRP
-
INRIA
-
CEMIF
-
Matra
-
Aérospatiale

Pseudo
-
haptic feedback: can isometric input devices simulate force feedback?

«

La Spirale

» 1957
-

Germaine Richier

ECOLE NORMALE SUPERIEURE DE CACHAN

61, avenue du Président Wilson 94235 Cachan Cedex
-

France
-

Tel. : 33 1 47 40 20 00
-

http://www.ens
-
cachan.fr

Needs for sensor fusion

Spaceball
TM

emulating a real spring embedded in a piston

«

La Spirale

» 1957
-

Germaine Richier

ECOLE NORMALE SUPERIEURE DE CACHAN

61, avenue du Président Wilson 94235 Cachan Cedex
-

France
-

Tel. : 33 1 47 40 20 00
-

http://www.ens
-
cachan.fr

Needs for sensor fusion

The
«

unity of perception

»

issue

(
in engineering or physiology):

new solutions for an old problem (
Edelman
).


How do we maintain a unique internal representation of external events

in spite of large computational and transmission delays (sensor fusion

at large)?


1st level (data base management): maintenance of data (a priori or a posteriori
quality management, time of arrival,…) by a specialized middleware

(a precursor of which was SPICE, by Maarten Boasson, HSA)



2nd level:

stability

of the overall computation, for instance by exchanging
«

wave variables

» (theoretical justification thanks to the
contraction analysis

of Slotine & Lohmiller);
see

The intermediate cerebellum may function as a wave variable processor,


Massaquoi & Slotine, Neuroscience Letters 1996