Sensor uncertainty management for an encapsulated logical device architecture: Part I - fusion of uncertain sensor data

A systematic method of integrating high-level decision making and planning systems with low-level sensing, actuation and control is essential for the efficient implementation and maintenance of intelligent industrial automation systems. Additionally, for increased reliability in operation, a system should consider data as uncertain and all decisions should be made using data of an appropriate level of certainty. In this paper the encapsulated logical device (ELD) architecture is presented as an architecture that is modular and scalable. The ELD architecture allows the various agents in the architecture to be implemented in a distributed fashion on multiple hardware and software platforms. Additionally, the ELD contains a fusion mechanism that manages and propagates uncertain data throughout the architecture. Data and knowledge uncertainty is represented in this architecture using uncertainty ellipsoids. Finally, the ELD architecture bridges low-level real-time control with high-level event-driven decision-making and planning