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Analysis and Design of Intelligent Surveillance System - Surveillance Robot System

FYP Part 1
by

Nazreen Ashraf

on 26 February 2015

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Transcript of Analysis and Design of Intelligent Surveillance System - Surveillance Robot System

surveillance robot system
surveillance
a close watch
kept over something or someone with purpose of detecting the occurrence of some relevant events

monitoring
of the behavior, activities, or other changing information, usually of people for the purpose of influencing, managing, directing or protecting them

surveillance robot system
usually
small
,
compact
and
unmanned
mobile robots

ground
, air, water or space type

indoor
or outdoor operating region

fully autonomous or
semi-autonomous
machine

functions
: surveillance & patrol, theft detection, investigation, military & etc

abilities
: detect events, real-time video stream, object verification, security guard & etc
analysis and design of intelligent surveillance system
surveillance robot system

nazreen ashraf bin khairol anuar
1102702285
bachelor of engineering (honours) electronics

dr. wong sew kin
mr. lee chu liang

introduction
scope of project
To implement the system
in houses and buildings
as an indoor security system
methodology
propose a suitable topic with advice from supervisor
research on the topic of the project

design, analyze and compare hardware and software needed
purchase hardware and design software
assemble project & test
result
introduction
examples of current
surveillance robot
systems
1. Mobile Detection Assessment and Respond System (MDARS)
a
semi-autonomous unmanned ground vehicle


serves the military,
Continental United States (CONUS)

equipped with
large
,
expensive
and
cutting edge technologies

functions:
random patrols
,
surveillance
and
military activities

components and programs
can be changed
to suit a mission

system consist of a
control station
, MDARS Control Station (MCS) and the
patrol unit vehicle
(PUV)

2. RoboGuard
semi-autonomous mobile robots

provide
video streams via wireless Intranet


a serious alternative
to the standard approach of using Closed Circuit Television (CCTV) camera

low-latency operation
by using a stateless UDP protocol

3. Airport Night Surveillance Expert Robot (ANSER), Unmanned Ground Vehicle (UGV)
an
autonomous mobile surveillance system


for
night surveillance
at
wide areas

non-differential GPS-based
unit

opposes the "
over-equipped
" philosophy

during patrols, its
functions
are:
to
verify the state
(open/close) of doors and barriers
to
verify the presence
of allowed/non allowed persons in the current area
to
identify unexpected
objects and if possible classify them
4. Mobile Autonomous Robotic Vehicle for Indoor Navigation (MARVIN)
designed to be a human-like
security agent

operating in an indoor environment

almost human physical appearance

able to communicate verbally and non-verbally

able to show emotions and gestures

5. Robotic Security Guard

6. Autonomous Underwater Vehicles (AVUs)

7. US Navy Research and Development Agency (NRaD), Multipurpose Security and Surveillance Mission Platform (MSSMP)

8. Cyberguard

9. Visual Surveillance

10. Highways

11. Search and Rescue

examples of current surveillance robot systems
detailed design:
surveillance robot
systems
hardware
software
cost of the system
detailed design:
surveillance robot system
demonstration:
surveillance robot
system
1st step: setup
2nd step: system initialization
3rd step:
interface access
USB Webcam
USB Wi-Fi Dongle
demonstration:
surveillance robot system
discussion
problems
solutions
2nd problem
late arrival of components
delayed the whole project
1st problem
3rd problem
difficulties in
writing the HTML and Python codes
no basic knowledge
in the programming languages used

solution
carry out the project with the available components while waiting
solution
use Motion software instead but suffers a very low video framerate
solution
Ask for help in online forums
Watch videos as a guide
conclusion
recommendation
conclusion
future recommendations
add more components for more funtions
designed to be operating indoors and outdoors
designed to have a very small form factor
improve the video framerate with video processing capabilities
can be controlled wirelessly from all around the world
develop a ready to use system application

references
references
[1] Massios, N. A., & Voorbraak, F. (1998). Planning Strategies for Decision-Theoretic Robotic Surveillance. In NAIC’ 98 (pp. 117-126)

[2] Lyon, David. (2007). Surveillance Studies: An Overview. Cambridge: Polity Press.

[3] Di Paola D. (2008). An Autonomous Mobile Robotic System for Surveillance of Indoor Environments. Industrial Robot: An International Journal. 35(1), 143 - 152.

[4] Burgard, W.; Moors, M.; Fox, D.; Reid, S. & Thrun, S. (2000). Collaborative multi-robot exploration, Proceedings of IEEE International Conference on Robotics and Automation, Vol. 1, pp. 476-481, ISBN: 0-7803-5886-4, San Francisco, CA, USA, April 2000

[5] Vig, L. & Adams, J.A. (2007). Coalition formation: From software agents to robots. Journal of Intelligent and Robotic Systems, Vol. 50, No. 1, pp. 85–118, ISSN: 0921-0296
[6] Everett, H. R. (December 2003). Robotic Security Systems. IEEE Instruments & Measurement Megazine,, 30 -34.

[7] Change Zheng, "The Design of a Miniature Autonomous Surveillance Robot," Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on, vol.3, no., pp.408,413, 11-12 April 2009

[8] Stefan J. Witwicki, José Carlos Castillo, Jesús Capitán, João V. Messias, João C. Reis, Pedro U. Lima, Francisco S. Melo, and Matthijs T.J. Spaan. 2014. A testbed for autonomous robot surveillance. In Proceedings of the 2014 international conference on Autonomous agents and multi-agent systems (AAMAS '14). International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC, 1635-1636.

[9] Hou-Tsan Lee; Wei-Chuan Lin; Ching-Hsiang Huang; Yu-Jhih Huang, "Wireless indoor surveillance robot," SICE Annual Conference (SICE), 2011 Proceedings of , vol., no., pp.2164,2169, 13-18 Sept. 2011
[10] Everett, H. & Gage, D. W. (1999). From Laboratory to Warehouse: Security Robots Meet the Real World, International Journal of Robotics Research, Special Issue on Field and Service Robotics, Vol. 18, No. 7, pp 760-768.

[11] Shoop, B.; Johnston, M.; Goehring, R.; Moneyhun, J.; Skibba, B., Mobile Detection Assessment and Response Systems (MDARS): A Force Protection Physical Security Operational Success. Proc. SPIE 6230, Unmanned Systems Technology VIII, 62301Y (May 09, 2006); doi:10.1117/12.665939.

[12] Birk A.; Kenn, H., (November 2002). RoboGuard, A Teleoperated Mobile Security Robot. Control Engineering PRactice. 10(11), 1259-1264.

[13] Capezio, F.; Sgorbissa, A.; Zaccaria, R., "GPS-based localization for a surveillance UGV in outdoor areas," Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on , vol., no., pp.157,162, 23-25 June 2005

[14] Carnegie, D.A.; Prakash, A.; Chitty, C.; Guy, B., “A Human-Like Semie Autonomous Mobile Security Robot”, 2nd International Conference on Autonomous Root and Agents, Palmerston North (2004)

[15] TSO, F.P.; Zhang, L.; Jia, W., 2007. Video surveillance patrol robot system in 3G, Internet and sensor networks. In Proceedings of the 5th international conference on Embedded networked sensor systems (SenSys '07). ACM, New York, NY, USA, 395-396.

[16] Chirag, B.; Manjunath, A.E.; Badrinath, K.B., "Design and implementation of cost effective surveillance robot," Computer Aided System Engineering (APCASE), 2014 Asia-Pacific Conference on , vol., no., pp.141,145, 10-12 Feb. 2014

[17] Biddinger, A., Fargo, N., Troupe, M., & Zhang, R. (2012). Surveillance Robot: Project Design Report.

end
start
Raspbian
WebIOPi
Motion
index.html
surocam.py

RP5 Robot Chassis
positives
negatives
discussion
4th problem
money / budget
need to find the
cheapest
and
high quality components
spent
more than RM500
solution
takes time
to find a good deal
search hardware
online
problem statement
human limitations
human labor is
inefficient
as security guards for a long hour period
fatigue
,
lack of attention
and
errors
affected by
mood
and
interest

traditional security system
fixed
position
dead zones
cannot interact
with object
objectives
to research on existed and current intelligent surveillance robot system
to propose and assemble a new semi-autonomous mobile robot system
to build a standalone device that can replace the traditional security system
to build a surveillance robot system that is easy to use, reliable and affordable
fyp part 2 gantt chart
overview of the system
small-sized semi-autonomous
mobile robot

wheeled ground-type indoor
unit

wireless control
via Internet (LAN)

controlled using the
Internet web browser
of any device

custom and user friendly
interface

real-time
video stream
Raspberry Pi Model B+ Board

8GB Micro-SD Memory Card

Logitech C170 Webcam

L298N Motor Driver Module Board

RP5 Robot Chassis with Double DC Motors

TP-Link TL-WN722N USB Wi-Fi Dongle

Xiaomi 10,000mAh Powerbank

Ultrafire Rechargeable 3.7 AA Batteries x2

Battery Holder

Female-to-Female Jumper Wires

Box & Tapes
index.html
surocam.py
system specification
turn on Raspberry Pi board

insert batteries

connect system to the Internet

run "putty.exe" as administrator

insert robot's IP address

run the program
log in with "pi" and "raspberry"

enter the commands

run the system
computer's Internet web browser

enter the URL of the registred IP address and server port

log in with "cambot" and "cambot"

control the robot with the interface

video stream is provided
4th step: surveillance robot control
control the robot as desired

view the demonstration video
5th step: system shutdown
[CTRL] + [C] to quit the system

[sudo halt -h] to shutdown the Raspberry Pi
system is able to function well
smooth robot movement
good wheel traction
real-time video stream is provided
simple and user friendly interface
solid, strong and robust robot design
controlled wirelessly
secured access to the system
tablets & smartphones are supported
meets the objectives of the project
very low video framerate
hard to control on tablets and smartphones
no ready to use application
controlled on LAN only
no sensors
no extra functions
suitable for indoors only
MJPG-Streamer is blocked by Java's security system
unable to use the best and high quality video streamer software
the surveillance robot system meets the objectives of the project

proves to be an easy to use, reliable and affordable system

the system is secured and functions well

shows a big potential for the future of robotics and surveillance system
Full transcript