Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

January 1991


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-91-01.


We address the problem of observing a moving agent. In particular, we propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system (DEDS) from work is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the "events" that causes state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. The system utilizes different tracking techniques in order to observe the task in an active, adaptive and goal-directed manner.


computer vision, control theory, decision making, discrete event dynamic systems, finite state automata, image processing, manufacturing systems, motion estimation, robotics



Date Posted: 09 August 2007