ARTIFICIAL INTELLIGENCE SYSTEM FOR SURVEILLANCE

P.MANIGANDAN ANNA UNIVERSITY OF TECHNOLOGY TIRUCHIRAPPALLI PANRUTI CAMPUS mani.aaru@yahoo.com robot position control. This information is Abstract: The modern mobile robots were commonly obtained using inverse used in several applications such as it is used kinematics. This requires encoders on the in industry and household applications. But robot platform. Such an approach may the modern technologies are being involved potentially result in problems with robot to make the mobile robot for the public position and orientation calculation. This is safety. Such as it is involved in the due to problems with robot traction, unequal surveillance system for the public safety. wheel radius etc. Other localization problem solutions are space mapping, current This type of mobile robot uses zigbee, a position determining based on familiar wireless protocol which is used for the data environment or triangulation. This paper transmission. In this mobile robot various proposes a robot localization solution which advance cameras and sensors were is based on color markers recognition. It employed for the detection of humans, the should be noted that most of the position detection process is done by means of PIR control systems require ranges of accuracy sensors. And the mobile robot has a feature that can easily be met by the here proposed solution. This paper mainly of detecting the bomb, even if it is a plastic targeted for surveillance purpose, it explosives. And this type of robots can be illustrates how the artificial intelligence enhanced for the future use for tracking helps in the defence area and also it audio. elaborates how the previous versions were used and what the drawbacks thus it had? INTRODUCTION: As the modern technology increases the ability of science also increased in various field, the major and one of the advancement of the science is artificial intelligence. The mobile robot is one of the advancement of artificial intelligence technology. Mobile robot position control systems are widely used in industrial and home applications. The industrial applications vary from military to medical appliance. Mobile robots are commonly used in dangerous and inaccessible regions. They perform tasks that are often too difficult for humans, such as lifting or transport of heavy loads. Due to mentioned reasons the wireless mobile robot position control is a challenging task. Information about robot position and orientation is necessary in order to achieve HISTORY OF MOBILE ROBOT: MOBILE ROBOT IN 20TH CENTURY: Initially the mobile robot were used in the year 19391945 During World War II the first mobile robots emerged as a result of technical advances on a number of relatively new research fields like computer science and cybernetics. They were mostly flying bombs. Examples are smart bombs that only detonate within a certain range of the target, the use of guiding systems and radar control. The V1 and V2 rockets had a crude 'autopilot' and automatic detonation systems. They were the predecessors of modern cruise missiles. This is considered as first step of artificial intelligence system

in the defence area. Later on in 19481949 W.Grey Walter builds Elmer and Elsie, two autonomous robots called Machina Speculatrix because these robots liked to explore their environment. Elmer and Elsie were each equipped with a light sensor. If they found a light source they would move towards it, avoiding or moving obstacles on their way. These robots demonstrated that complex behavior could arise from a simple design. Elmer and Elsie only had the equivalent of two nerve cells. [1]. In 1961 1963 The Johns Hopkins University develops 'Beast'. Beast used a sonar to move around. When its batteries ran low it would find a power socket and plug itself in. Thereafter in the year 1969 Mowbot was the very first robot that would automatically mow the lawn. [2]. During the year 1970 The Stanford Cart line follower was a mobile robot that was able to follow a white line, using a camera to see. It was radio linked to a large mainframe that made the calculations.[4] At about the same time (19661972) the Stanford Research Institute is building and doing research on Shakey the Robot, a robot named after its jerky motion. Shakey had a camera, arangefinder, bump sensors and a radio link. Shakey was the first robot that could reason about its actions. This means that Shakey could be given very general commands, and that the robot would figure out the necessary steps to accomplish the given task. The Soviet Union explores the surface of the Moon with Lunokhod 1, a lunar rover. In 1976 In its Viking program the NASA sends two unmanned spacecrafts to Mars. In 1980 The interest of the public in robots rises, resulting in robots that could be purchased for home use. These robots served entertainment or educational purposes. Examples include the RB5X, which still exists today and the HERO series. The Stanford Cart is now able to navigate its way

through obstacle courses and make maps of its environment. MOBILE ROBOT IN 21ST CENTURY: In 2001 Start of the Swarm-bots project. Swarm bots resemble insect colonies. Typically they consist of a large number of individual simple robots, that can interact with each other and together perform complex tasks. [5]. Thereafter during the year 2002 Appears Roomba, a domestic autonomous mobile robot that cleans the floor, which is used to home atomicity. In the year 2003 Axxon Robotics purchases Intellibot, manufacturer of a line of commercial robots that scrub, vacuum, and sweep floors in hospitals, office buildings and other commercial buildings. Floor care robots from Intellibot Robotics LLC operate completely autonomously, mapping their environment and using an array of sensors for navigation an obstacle avoidance. In the year 2008 Boston Dynamics released video footage of a new generation BigDog able to walk on icy terrain and recover its balance when kicked from the side. During the year 2010 The Multi Autonomous Ground-robotic International Challenge has teams of autonomous vehicles map a large dynamic urban environment, identify and track humans and avoid hostile objects. CLASSIFICATION: Mobile robots may be classified by:

The environment in which they travel:

Land or home robots. They are most commonly wheeled, but also include legged robots with two or more legs (humanoid, or resembling animals or insects).

Aerial robots are usually referred to as unmanned aerial vehicles (UAVs) Underwater robots called autonomous vehicles (AUVs) are usually underwater

Polar robots, designed to navigate icy, crevasse filled environments The device they use to move, mainly:

floor. Most of these robots operated a simple "keep the line in the center sensor" algorithm. They could not circumnavigate obstacles; they just stopped and waited when something blocked their path. Many examples of such vehicles are still sold, by Transbotics, FMC, Egemin, HK Systems and many other companies Autonomously randomized robot Autonomous robots with random motion basically bounce off walls, whether those walls are sensed Autonomously guided robot

Legged robot : human-like legs (i.e. an android) or animal-like legs. Wheeled robot.
[2]

Tracks. The mobile robot has various types of navigations such as: Manual remote or tele-op

A manually tele-op'd robot is totally under control of a driver with a joystick or other control device. The device may be plugged directly into the robot, may be a wireless joystick, or may be an accessory to a wireless computer or other controller. A tele-op'd robot is typically used to keep the operator out of harm's way. Examples of manual remote robots include Robotics Design's ANATROLLER ARI-100 and ARI-50, Foster-Miller's Talon, iRobot's PackBot, and KumoTek's MK-705 Roosterbot. Guarded tele-op A guarded tele-op robot has the ability to sense and avoid obstacles but will otherwise navigate as driven, like a robot under manual tele-op. Few if any mobile robots offer only guarded tele-op. Line-following robot Some of the earliest Automated Guided Vehicles (AGVs) were line following mobile robots. They might follow a visual line painted or embedded in the floor or ceiling or an electrical wire in the

Robot developers use ready-made autonomous bases and software to design robot applications quickly. Shells shaped like people or cartoon characters may cover the base to disguise it.[3] Courtesy of MobileRobots Inc An autonomously guided robot knows at least some information about where it is and how to reach various goals and or waypoints along the way. "Localization" or knowledge of its current location, is calculated by one or more means, using sensors such motor encoders, vision, Stereopsis, lasers and global positioning systems. Positioning systems often use triangulation, relative position and/or Monte-Carlo/Markov

localization to determine the location and orientation of the platform, from which it can plan a path to its next waypoint or goal. It can gather sensor readings that are timeand location-stamped, so that a hospital, for instance, can know exactly when and where radiation levels exceeded permissible levels. Such robots are often part of the wireless enterprise network, interfaced with other sensing and control systems in the building. For instance, the PatrolBotsecurity robot responds to alarms, operates elevators and notifies the command center when an incident arises. Other autonomously guided robots include the SpeciMinder and the Tug delivery robots for hospital labs, though the latter actually has people at the ready to drive the robot remotely when its autonomy fails. The Tug sends a letter to its tech support person, who then takes the helm and steers it over the Internet by looking through a camera low in the base of the robot. MOTION OF A MOBILE ROBOT: Kinematic Models of Mobile Robots: Assumptions: a) The robot moves in a planar surface. b) The guidance axis are perpendicular to floor. c) Wheels rotate without any slippery problems. d) The robot does not have flexible parts. e) During small amounts of time, which direction is maintained constant, the vehicle will move from one point to other following a circumference arc. f) The robot is considered as a solid rigid body, and any movable parts are the direction wheels, which are moved following a commanded control position Kinematic restrictions. Consider an inverted pendulum as shown in figure 1. Its movement is restricted by the following equation x2 + y2 l2 = 0 (1)

Similar restrictive equations are found in kinematic equations of mobile robots.

Wheel movement (speed) in direction x is calculated by radius r and angle speed rotation by. x = r (2)

In this manner the mobile robot moves in a plane surface by using this restriction laws. DEVELOPMENT OF A SELF PROPELLED MOBILE ROBOT FOR SURVEILLANCE: The following paragraph will illustrates how a mobile robot is designed by means of various factors, As the incidents of theft grew more frequent, the applications of

security systems are more popular than ever to prevent the damages caused by theft whether at home or elsewhere. The traditional security system gives some protection to the situation but still has some dead zone that cannot be monitored. Therefore, this paper proposes mobile security monitoring system to improve the security of traditional one. The comparison diagram between the proposed and traditional security system is shown as Figures1 and 2. A self-propelled patrolling vehicle acts as a security patroller in the security system, which can monitor those dead zones of the traditional fixed surveillance system. The remote monitoring capabilities can also be enhanced by using the wireless network. And the face detection system is adapted to record and analyze the invaders [13]. No matter where the user is, he can monitor the indoor status by using network. There are also many literatures concerning about surveillance issue.

building surveillance robot was also proposed to secure the safety of a building [5]. Chen and Luo introduced the remotecontrol mobile robot via World Wide Web (WWW) [6]. And the proposed surveillance robot not only patrols the designed route automatically but also equips with the ability of face detection. By using the Internet, any invader will be noticed by the system via MSN or smart phone and furthermore control the patrol route of the surveillance vehicle.

THE PROPOSED SYSTEM IS: In [4], a surveillance security robot team had been developed combining with human recognition by using RFID. A LAN-based

OpenCV is an open source and crossplatform libraries, it can be used in most of the platforms such as the operating system of Linux and Windows [7]. OpenCV is developed by the Intel Corporation for image processing and providing interface to create pictures by C programming language and so on. It can be used to handle object tracking, face recognition, texture analysis, image file formats integrated with different matrix operations for the static image files, and the dynamic image processing of IPCAM [8]. In this paper, OpenCV technology is used for face detection. RFID system identifies the object by using the radio frequency technology to sense with small IC chip attached on the object [9, 10].

In this way, RFID system can be used to track object by processing of a noncontact, short-range automatic identification technology. The RFID system is adopted in the proposed scheme, system components including tags, reader, and the host computer. Tag is a data storage device; the Reader reads information from the Tag. The reader reads the data and sends to the host computer for further processing. When sensing the radio waves emitted by the reader, the tag will produce a magnetic induction to trigger the RF transmitter module to send the built-in EEPROM information back to the reader. The reader is transmitted the information to host computer through the RS-232, or USB interface. There are two kinds of RFID tags such as active and passive. The passive type is chosen in the proposed scheme. With the proposed combined scheme of the paper, the security of indoor surveillance will be upgraded. The self-propelled vehicle will give more information than the traditional security system. Experimental results are also provided to validate the performance of the proposed system. 2. SYSTEM ARCHITECTURE: The proposed self-propelled monitoring and surveillance vehicle can be divided into the following parts: wireless IPCAM video capture system, face detection system, remote monitor and alarm transmitter system, RFID position detection systems, and cell phone monitoring and control system [1113]. The diagram of system architecture is shown in Figure 3.

The self-propelled vehicle uses RFID technology to control the moving direction. RFID tag is installed in the right-hand side of the self-propelled vehicle. When the selfpropelled vehicle moves to a predefined routing path installed with RFID reader, the RFID reader would detect the RFID tag and send the signals back to the server to show the detected position on the map to indicate the status of the self-propelled vehicle. Smartphone (Android) can also send control command through server to control the direction of self-propelled vehicle. Face detection subsystem uses the Intels OpenCV library to detect face of the monitored place [14, 15]. There are two wireless IPCAMs mounted on the selfpropelled vehicle to monitor the front and back of the vehicle for face detection. If a face was detected in the image file, the server would trigger the MSN robot to send warning message to the user [16, 17]. Users can use the PC, notebook, or smart phone to monitor the situation or drive the selfpropelled vehicle to the spots where the users want it to be. The server provides the remote monitor website system which is installed with Microsoft IIS and the JAVA web program.

Users can use the PC, notebook, and Smartphone to connect this website for monitoring the place via wireless IPCAM. The RFID position detection system as shown in Figure 4, the RFID tag, is mounted on the right-hand side of the self-propelled vehicle. By the detecting of tag, a predefined routing path can be traced. The detected information is also displayed on the map of the monitored place. The server would also send guidance control command to the selfpropelled vehicle for the next position of the RFID reader

actions to increase the reliability of the overall system. ENHANCEMENT: HUMAN SENSING: This paper also illustrates the next stage of the mobile robot, until this paper describes about how the mobile robot is used in the surveillance for the public safety and it also illustrated that how the mobile robots were developed. And now we will briefly explain how the mobile robot can be enhanced for the future use. Initially the robot can sense a object through RFID sensor, these type of sensors are used to sense only objects like car and other machines but it cannot sense the human being that is the RFIDs are used to sense the living organism but it cannot exactly sense the human to sense such type of object we use a new component called as a PIR sensor. These types of sensors are used to sense the human by means of sensing the heat radiated by the human body. By sensing this heat the sensor will sense the this heat and sense the presence of the human. This sensation is indicated by means of red, green and blue color pattern i.e., RGB.

The self-propelled vehicle is controlled through the WIFI module by receiving socket data from the server. The control center of the self-propelled vehicle is the DFRduino RoMeo 328 microcontroller [18]. The microcontroller receives control command through the socket data of the server to control the motion of self-propelled vehicle. Generally, the patrolling path of the self-propelled vehicle is predefined by installing the RFID tags in the proper positions as the predefined patrol route. If the warning message is detected, users can guide the self-propelled vehicle by remote control through Smartphone as shown in Figure 5. If the RFID tags are not read in a time interval or the messages of RFID reader are not received by the server, then the system will notice the user to take

REMOTE ACCESS: The existing mobile robots were working based on preprogramming process, such as it

illustrates a mobile robot which is working based on a preprogrammed instruction sets but we had made a new technology of remote access through java programming language. The java program is used to create an application for client server. In this place the mobile robot act as server and the users are the client who gives the instructions for the surveillance. Here the mobile robot is connected to internet through a GPRS (General Packet Radio System) connection and now the user can give the command from any place to the mobile robot which act as remote server and performs the various operations according to the command received from the user, located in the control room. And this system is used to track a person or surveillance an area and we can watch the surveillance area by means of video surveillance by using a java application and by using CCTV and CCD we can store the video data with high quality. CONCLUSION: The mobile robot can be used to surveillance an area and if this technology is implemented in industry or home application, home automation this will ensure a high security and safety. It will be helpful for tracking a person through personally and it can be used for detection of bomb by means of anti-bomb sensor or bomb sensor and this will reduce the scalability problem of cameras for making of surveillance for a specified area. KEY WORDS: UAV Unmanned Aerial Vehicle AUV Autonomous Underwater Vehicles AGV Automatic Guided Vehicle RFID Radio Frequency Identification LAN Local Area Network WWW World Wide Web

EEPROM Electrically Erasable Programmable Read Only Memory USB Universal Serial Bus CCTV Closed Circuit Television CCD Charge Coupled Division REFERENCE:
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