34 9 2000 9 JOU RNAL O F SHAN GHA I J IAO TON G UN IV ER S IT Y V o l 34 N o 9 Sep 2000 : 100622467 (2000) 0921200206 1, 1 2, (1, 200030 2, 116013) :,,,,,,, : : TN 911 72 : A A Ge ne ric B la ckboa rd2b a se d D a ta Fus ion S ys tem H OU P ing 2ku i 1, S H I X i2z h i 1, L IN L iang 2j i 2 (1 State Key L ab of V ib ration, Shock & N o ise, Shanghai J iao tong U n iv, Shanghai 200030, Ch ina 2 D alian Scien tific T est and Con tro l T echno logy In sṫ, D alian 116013) Abs tra c t: T h is paper discu ssed the concep t of data fu sion and b lackboard fram e the b lackboard fram e to ach ieve the data fu sion system w ere analyzed generic b lackboard (GBB ) fram e w as p resen ted T he advan tages of u sing A n expert system based on the T h is paper also repo rted the p relim inary w o rk that inves2 tigated the su itab ility of u sing the generic b lackboard fram ew o rk as a p rob lem 2so lving m odel to recogn ize the underw ater target th rough the no ise radiated from the targeṫ signal by u sing the b i2directional info rm ation flow m ethod efficien tly and accom p lish the low er level data fu sion n ism, w as tested T he system w as designed to in terp ret the T he system can u tilize the dom ain know ledge T he basic fu sion m ethod, bayesian inference m echa2 Ke y w o rds: generic b lackboard (GBB ) data fu sion b i2directional flow m u ltisen so r 1 [ 1 5 (D ata fu sion) 70 ],,, [ 1 ], 10,,,,,, : 1999210227 : (697720001) : (1975 ),, 1995-2004 Tsinghua Tongfang Optical Disc Co, Ltd All rights reserved,,, : (A R T )
9, : 1201 [ 7 : ] GBB Comm on L isp CLO S,, :,,,,,W h ite,,, Com 2, m on L isp C + +,,,,,,,,,,,, W altz 2 1 : 1 :,,,,,,,,, [ 6 ],, 2,, 1 F ig 1 T he Schedule of GBB fo r contro l and data N ew ell 1962, : 1980 (1) GBB, H earsay2g, 1 000, (2), (3), (Generic B lackboard, GBB ),, 1995-2004 Tsinghua Tongfang Optical Disc Co, Ltd All rights reserved
1202 34 (4),,,,,,, 2 2,,, 3 :,,,,,,,,,,,,,,,,,,,,, 1,,, 1, Tab 1 Com par ison between fusion and blackboard : (1), (2), (3) (4) (5),,,,, 2 4, 2 F ig 2 F ram e of the data fusion system, 1995-2004 Tsinghua Tongfang Optical Disc Co, Ltd All rights reserved
9, : 1203 4 1 3 : 4 4,, ( ) (U n it) : T ype2x 2Subm arine, D efine2un it2class T ype2x 2Subm arine Comm on L ISP, L ISP ( : O PS) : SPEED: [0 15 ], LOCA T ION : [X Y ] T ype2x 2Subm arine, : 4 (Slo ts),,,, (U n it2in stance),,, 4 2,, : 5 1,,,,,,, H 1, H 2,, H n, E 1, E 2,, E n S IGNAL S: [A S IGNAL ] BEA R IN G: [0 360 ] 5, 4 3 {P (E jgh i) j = 1,m i= 1, n} 3 : ( IF p (E gh i) p (H i) p (H 1gE ) = TH EN ) n p (E gh k) p (H k), k= 1,,,, 1, 2,, N,,, 4 3 F ig 3 Structure of dom ain know ladge Source 4 F ig 4 F ram ew o rk of decision fusion, H 1, H 0, P 1 P 0 U i ( i= 1,, N ), 1995-2004 Tsinghua Tongfang Optical Disc Co, Ltd All rights reserved
1204 34 U 0 N i= 1 u i log 1 - P fi P m i + (1 - u i) log > log P 0 U 0 = 1 P 1 P m i 1 - P fi Space3 Space2, : So lu tion2found2ks So lu tion2failu re2ks Space1,, (1) (defparam eter 3 SPA CE1 3 (b lackboard space1) ) (defparam eter 3 SPA CE2 3 (b lackboard space2) ) (defparam eter 3 SPA CE3 3 (b lackboard space3) ) (defparam eter 3 SPA CE4 3 (b lackboard space4) ) (2) (define2un it2cla ss H YP () ( (belief in itfo rm 0) U i= 0 (value in itfo rm 0) 1 (level) U 0= 0 (suppo rted2hyp s link (hyp suppo rting2 1 hyp s) ) P fi, P m i (suppo rting2hyp s link (hyp suppo rted2 hyp s) ) ( docum en tation H YP (H ypo thesis) ) ( generate2in itargs t) ( generate2accesso rs t) ( dim en sional2indexes < log P 0 U 0 = 1 (value value type po in t) ) P 1 ( path2indexes,, (level level type label) ) ( path s (b lackboa rd, level) ) 5 2 (3) [ 8 ] D EF IN E CON TROL SH ELL EV EN T S:,, (define2even t2class M ER GED 2H YP2EV EN T (un it2even t), (ex ist ing2belief) ( generate2accesso rs t) ( generate2in itargs t) ( enab le2even t2p rin ting hyp ) ) : In itial2ks, Syn2Space423 (4) KS, Syn2Space322 KS, Syn2Space221 KS, So lu tion2 D EF IN E KNOW L ED GE SOU RCE Found KS So lu tion2failu re KS, In itial2ks (define2k s IN IT IAL,, trigger2even ts ( (start2con tro l2shell2 Syn2Space2423 KS Space4 even t) ),, rating 3 m o st2po sitive2rating 3 Space3 Syn2Space322 KS Syn2Space221 KS k s2function in tial2k s2function) 1995-2004 Tsinghua Tongfang Optical Disc Co, Ltd All rights reserved 5 5 F ig 5 R esults of extraction fo r feature po ints
9, : 1205 6 [4, ] N iip H B lackboard system s blackboard app lication system s, b lackboard system from a know ledge engi2 neering perspective [J ] A IM agazine, 1986, 7 (3): 82, 106, [5 ] L linas J, A ntony R T B lackboard concep ts fo r data fusion app lications [J ] International Journal of Pat2,, tern R ecogn ition and A rtificial In telligence, 1993, 7, (2): 285 308, [6 ] : [1 ], [J ] GBB and RADA R SA T21 [J ], 1996, 24 (6): 55 61 [2 ] D asarathy B V Senso r fusion po tential exp lo itation- Innovative arch itectu res and illu strative app lication s [J ] P roceedings of the IEEE, 1997, 85 (1): 24 38 [3 ] H all D L, L linas J A n introduction to m ultisenso r data fu sion [ J ] P roceedings of the IEEE, 1997, 85 (1): 6 23 [D ] :, 1998 [7 ] Co rk ill D D Countdow n to success: dynam ic objects, A CM, 1997, 40 (5): 49 58 Comm unications of the [8 ] L esserv R, N aw ab S H, K lassner F İ IPU S: A n arch itectu re fo r the In tegrated signal p rocessing and signal interp retation in comp lex environm ents [ J ] P roceedingsof AAA I, 1993: 249 255 R R R R P,,, (, 200030) :, R R R R P,, R R R R P, R R R R P, R R R R P,,, (, 200030) :, Internet,, Internet,, 1995-2004 Tsinghua Tongfang Optical Disc Co, Ltd All rights reserved