Intelligent Robotic Sensor Agents for Environment MonitoringOverviewDefinition in context of an Intelligent EnvironmentSystem ArchitectureSlide 5Slide 6Slide 7Slide 8Slide 9Slide 10Slide 11Slide 12Slide 13Development & EvolutionSlide 15Slide 16Relevance to Intelligent EnvironmentsConclusionReferencesQ & AIntelligent Robotic Sensor Agents for Environment Monitoring Presented by:Yousuf AjmerwalaIntelligent EnvironmentsCopyright 2003 © CSE - UT Arlington.Overview•What is an Intelligent Robotic Sensor ?•Intelligent Sensor System•Applications in an Intelligent EnvironmentsDefinition 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 usersSystem Architecture•Provide task directed information gathering•Model based multi sensor fusion•Agent based resource management framework•Redundant multi carrier communication systemsSystem Architecture•Intelligent task directed information gathering–Selective environment perception•Focus on parameters important for a task•Avoid irrelevant data•Efficient use of each sensorSystem 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 modu larity, plug-n -pl ay and transparency for sensor fusion and knowledge extractionSystem Architecture•Multi Sensor Fusion Framework–Organize data collection from different types of sensors–Produce local and global world models–Continuously update world modelsBy 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 forcesSystem 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-ISASystem 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 sensorsDevelopment & 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 agentsDevelopment & 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 imageDevelopment & Evolution•Evolutionary Mechanism–Allow transfer of learning and behavioral genes (Knowledge Base) obtained via experience from one R-ISA to another R-ISA.Relevance to Intelligent Environments•Monitor environment parameters to maintain a natural living environmentConclusion•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 grammerReferences•Wireless Intelligent Sensor Network for Environment Monitoring•Petriu, Patry,Whalen, Daher, Groza. Intelligent Robotic Sensor Agents for Environment MonitoringQ &