Functionality investigation using a discrete event system approach

This paper presents a methodology for investigating the functionality of objects in manipulatory tasks. Functionality is deened as the applicability of an object for the fullllment of a particular purpose. The description of an interaction for investigating the functionality of an object is described using a formalism based on Discrete Event System Theory and the Active Perception paradigm. The notion of an overseer for controlling, arbitrating and fusing assertions from multiple observers is presented. To describe the overall task observability we introduce the concept of piecewise observability. The functionality of a tool for piercing is presented and the feasiblity of the approach is demonstrated in a series of experiments using a robotic system and a compliant force sensor.