UBIQUITOUS SENSORY INTELLIGENCETeam member:AAYUSHI SHARMAAKSHIT TIWARIARATI YADAVELECTRICAL ENGINEERINGVEVEKANANDA INSTITUTE OF TECHNOLOGYNRI ROAD, JAIURABSTRACT !:The paper presents an intelligent space (room, corridor or street) which has ubiquitous sensory intelligenceincludingvarioussensors, suchascameras, microphones, hapticdevices(for physical contact) andactuators with ubiquitous computing background. The actuators are mainly used to provide information andphysicalsupport to the inhabitants, with the help of speakers, screens, pointing devices or robots andslave device inside the space. The various devices which all are based on ubiquitous sensory intelligence,they co-operate with each other. This paper presents the interface between human and robots. The wholespacehashighintelligencebasedonubiquitouscomputing, whichisusedmainlyforwelfaresupport.Intelligent space can guide and protect a blind person in a crowded environment with the help of a mobileagent. KEYWORDS -:Artificial intelligence,ambidient intelligence ,intelligent space, sign language, camera ,image processing."# INTRODUCTION !:1 conceptual figureof theIntelligent !ensoryintelligenceisshowninfigure"theubiquitoussensoryintelligence #"$ is released by %istributed Intelligent &etwork %evices, robots, which are physical agents ofthe intelligent space and human. figure " says that ,the intelligent space tries to indentify the behaviour ofmoving ob'ects (human beings) and tries to predict their movement in the near future. the intelligent spaceis based on (biquitous !ensory Intelligence supply information tothe human beings and it can help themphysically by using robot agents. )onventionally, there is a trend to increase the intelligence of a robotoperating in limited area.robot without any sensor or own intelligence can operate in an intelligent space.Thedifferencebetweenconventional andintelligent spaceconcept isshowninfigure".Thereisanintelligent space, which can sense and track the path of moving ob'ects (human being)in a limited area.There are mobile robots controlled by the intelligent space, which can guide user also. In the intelligencespace can help avoiding the fi*ed ob'ects and moving ones. The mobile hap tic interface, which is assistedbytheintelligencespace. It canguideablindmanasfirst figureshows. Intelligent spacelearnstheobstacle avoidance method of dynamic ob'ects by tracing their movements and helps to the blind person toavoid the collision.#+,,,-,.$./ig." comparison of conventional and ubiquitous sensory intelligence concept$# BASIC ELEMENTS OF UBIQUITOUS SENSORY INTELLIGENCE2There interesting elements of the current intelligent space with (biquitous !ensory Intelligence. %istributed Intelligent &etwork %evice 0irtual 1oom (biquitous 2uman 3achine Interface $#" DISTRIBUTED INTELLIGENT NETWORK DEVICE !:4ecanuseasdefinition5 spacebecomesintelligent, when%istributedIntelligent &etwork%evices(%I&%s) are installed in it #"$. Intelligent network area is very fundamental element of the intelligentspace.it consists three basic elements. The elements are sensor (camera with microphone),processor (computer)and communication device (6&).%I&% uses these elements to achieve three functions. /irst, the sensormonitors the dynamic environment, which contains people and robots. !econd, the processor deals withthe sensed data and makes decisions.Third,the %I&% communicates with other %I&%s or robots throughthe network. /igure + shows the basic structure of human and %I&%.In si* !ony 70I %,8 pan 9tilt ))%cameraandgeneral bt:-:basedimagecaptureboardisadoptedasasensor .%I&%communicationsensor processor look at space transform information refer database make database communicate withrobots.$#$ VIRTUALROOM !:The aim of virtual room (01) research pro'ect is to recreate an environment of physicale*perimental spacefor studying different motion control and vision algorithms for a given robot before real worldimplementation.The room currently contains the following ob'ects5; )C(* 9 *>) IK C+ as further quadrants.& ACTIVE RESOURCE SULEMENT FOR MOBILE ROBOT !:@ecause %I&% always watches mobile robots in the space, it can support them according to their currentsituation. %I&% can support different mobile robots with different resources simultaneously. Thus, even atoy, if it has basic elements such as communication device, actuator, and rough controller, can be utili?edas a robot in the Intelligent !pace. n e*periment is carried out to show an e*ample of what %I&% can dofor the mobile robot #L$. In this e*periment, self-locali?ation behaviour of a mobile robot was inactivatedintensively. !ince it has no way to measure neither position nor speed, it is no more than a toy, which has a radioreceiver.human operator indicated desired target points to %I&% and it translated this information to therobot. The robot 'ust followed the order from%I&%whether the output was correct or not. %I&%continuously tried to fi* position errors of the robot and it finally reached the goal. /ig. L shows how therobot gets to the goal. ccording to the position, domain %I&% for the robot is decided. The whole area ofthelaboratorywasdividedintofiveareasandeachareaiswatchedby%I&%. 4henamobilerobottraverses one area to another, %I&% sends information of the robot to the ne*t %I&%, which are the domain%I&% of the area where the robot will appear.7) HUMAN MOTION COMRESSION !:Thescenario, shownin/ig. L, isthat theIntelligent !pacerecogni?eswhat humanisdoinginit andseparates the real video data into inde* images and actions with time stamp. It will cause enormous datacompression and help to make database. This function is e*pected to be utili?ed in surveillance camera system in shops or banks. /ig L Tra'ectory of mobile robot* INTERRETER BEWTEEN HUMAN ROBOT !: human interface is a necessary part of an intelligent system, which interacts with a human operator.2owever, sincethehumaninterfacedependsonthesystem, ahumanoperator shouldlearnhumaninterfaces of each system. In the Intelligent !pace, a human interface module is located in the Intelligent!pace, not in each intelligent system. Thus, development efforts of systems are lessened and a humanoperator can control many systems with only a single human interface. /ig. "8 shows the concept. TheIntelligent !pace works as an interpreter between a human operator and systems including robots.8/ig "8 -Interpreter function of intelligent space

+ LEARNING WALKING HABITS ,"-. !: simplee*ampletoillustratetheimportanceof thisknowledge. 6etMsassumethat Napaneseandanmerican person are walking towards each other. 1ecognising this situation, they try to avoid each other.(sing their general rule, the Napanese person keeps left and the merican keeps right and they are again in front of each other. In the end they may even collide. If theIntelligent !pace can learn the walking habit of a human being, it can send a proper command to the robotin such situation./ig "" 7*ample for the problem of two different default avoidance style+#" BASIC WALKING STYLE ,"-. !:The main guiding rule of an aircraft carrying dangerous material is to keep Oas far from the mountains aspossibleP.. 1emaining in secret while an inspector is seeking for a criminal leads to the opposite behaviour,namely, Oget as close to the ob'ect as possibleP.simple combination of these can describe the main ruleof a traffic system5Okeep close to right or left sidePF/0 "$ 1a2 34ee5 a6 7ar 5866/b9e: 1b2 34ee5 a6 ;986e a6 5866/b9e:9+#$ MATHEMETICAL DESCRIBTION OF WALIKING HABITS !: The Intelligent !pace can detect ob'ects around the robot). The scanned area is divided into n scannedlines that are pointed into directions of z v Q, where z HHunique vectors "EZ). The different walking habits(obstacle avoidance methods) can be described by the repulsive (Fr attractive) forces as a function of obstacle distance. The walking path is defined by the sum of repulsiveforces. The magnitude of repulsive forces, F, in the different directions can be described by a potential field.The magnitudes of repulsive forces are usually inversely