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Intelligent Robotic Sensor Agents for Environment Monitoring Presented by: Yousuf Ajmerwala Intelligent Environments Copyright 2003 © CSE - UT Arlington. Overview • What is an Intelligent Robotic Sensor ? • Intelligent Sensor System • Applications in an Intelligent Environments 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 System Architecture • Provide task directed information gathering • Model based multi sensor fusion • Agent based resource management framework • Redundant multi carrier communication systems 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 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-nplay and transparency for sensor fusion and knowledge extraction 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 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 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 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 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 Development & Evolution • Evolutionary Mechanism – Allow transfer of learning and behavioral genes (Knowledge Base) obtained via experience from one R-ISA to another RISA. Relevance to Intelligent Environments • Monitor environment parameters to maintain a natural living environment 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 References • Wireless Intelligent Sensor Network for Environment Monitoring • Petriu, Patry,Whalen, Daher, Groza. Intelligent Robotic Sensor Agents for Environment Monitoring Q&A • ??