Visual observation under uncertainty as a discrete event process

The problem of development and implementation of a discrete event dynamic system observer for a moving agent is considered. The authors present a modeling approach for the visual system and its observer, where the `events´ are defined as ranges on parameter subsets. In particular, the proposed system is used for observing a manipulation process, where a robot hand manipulates an object. the hand/object interaction is recognised over time and a stabilizing observer is constructed. The resulting robot arm behavior is constructed as a hybrid intelligent mechanism. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. Some results from a sequence of a peg-in-hole operation are documented