1. Intelligent Robotic Sensor Agents for Environment Monitoring Presented by: Yousuf Ajmerwala Intelligent Environments Copyright 2003 © CSE - UT Arlington.

2. Overview What is an Intelligent Robotic Sensor ? Intelligent Sensor System Applications in an Intelligent Environments

3. Definition in context of an Intelligent Environment Robotic Intelligent Sensor Agent: –Capable of storing data –Capable of processing data –Capable of motion –Acting on the environment to improve the experience of its users

4. System Architecture Provide task directed information gathering Model based multi sensor fusion Agent based resource management framework Redundant multi carrier communication systems

6. System Architecture Intelligent task directed information gathering –Selective environment perception Focus on parameters important for a task Avoid irrelevant data Efficient use of each sensor

10. System Architecture Model based multi sensor fusion –System that has sensors covering all aspects of the geometric environment perception process: far away, near to, touching, and manipulation –This model will provide modularity, plug-n- play and transparency for sensor fusion and knowledge extraction

11. System Architecture Multi Sensor Fusion Framework –Organize data collection from different types of sensors –Produce local and global world models –Continuously update world models By integrating heterogeneous sensor data into a composite model of 3D object shape, surface and material properties, such as texture, elasticity, heat transfer characteristics, radiation, and contact forces

12. System Architecture Agent based resource management framework –Division of a task into sub tasks –Scheduling of the sub tasks –Each sub task assigned to a specialized R-ISA

13. System Architecture MPLS – Multiple Protocol Label Switching –Integration of Layer 2(ATM) and Layer 3 (IP) –Any selection of Layer 2 technologies and Layer 3 protocols to provide a certain quality of service –MPLS – convenient for time sensitive sensors

14. Development & Evolution R-ISA’s should be able to cannibalize/ recycle other agents –Modular Reconfigurable structures E.g., recycle dead agents –Energy reserves –Spare parts E.g., repair wounded/dead agents –Reincarnation of a new agent –Status advertising mechanism E.g., discover agent functionalities E.g., monitor health of other agents

15. Development & Evolution Cooperating Agents –Able to work together with both Mobile & Static agents to achieve a specific goal E.g., two R-ISA’s could assume best relative positions to take the stereo image of an environment E.g., one R-ISA could illuminate the subject so the other could take the image

16. Development & Evolution Evolutionary Mechanism –Allow transfer of learning and behavioral genes (Knowledge Base) obtained via experience from one R-ISA to another R- ISA.

17. Relevance to Intelligent Environments Monitor environment parameters to maintain a natural living environment

18. Conclusion Even though the field of robotics has advanced, there is work to be done to address the communication needs of the agent –Communication protocols –Developing communication grammer

19. References Wireless Intelligent Sensor Network for Environment Monitoring Petriu, Patry,Whalen, Daher, Groza. Intelligent Robotic Sensor Agents for Environment Monitoring

20. Q & A ??