2014 Sixth International Conference on Computational Intelligence and Communication Networks

Robotic Perception Amalgamated with Autonomic Computing for Ground Water

Level Detection
Apoorva Gupta
Department of CSE
Amity University
Noida, India
apoorva.2901@gmail.com

V.K. Panchal
Defence Terrain Research Lab
Defence Research And Development organisation
New Delhi, India
vkpans@gmail.com

Nidhi Chandra
Department of CSE
Amity University
Noida, India
srivastavanidhi8@gmail.com

AbstractGround water detection is a very important problem in environmental science. Apart from manually locating
the sites pertaining ground water, there is a need for the
automated calculation of probability of occurrence of water
in a particular ground area. In this paper a novel approach
based on robotic perception amalgamated with autonomic
computing is proposed. The attributes comprises of lithology,
geomorphology, soil type, land type, slope and lineament. The
information collected is stored in the History table (Case
Base). Case base reasoning is performed. The probability of
occurrence of ground water is computed as per the Boolean
probability functions propounded and the solutions stored as
experience in the History table. The robot perceives the given
set of external attributes from real time scenarios and stores
the data in the microprocessors. In case of partial perception,
learning is done and at last the action whether to drill the area
for a particular site is performed.

Section 2 provides the related concepts enhancing the understand ability, Section 3 provides a brief denition of the
problem dealt with, Section 4 provides the solution for the
discussed problem and section 5 provides an amalgamated
proposed model. Section 6 introduces the algorithm to be
executed. Section 7 is the experimentations on the dataset
and the section 8 provides the results and conclusions.

Keywords-Robotic perception, Boolean Probability, Autonomic Computing, Case Base Reasoning, Intuition, Autonomous Behaving Systems, Situation Awareness

To start with the paper deals with how the robot actually
perceives the given set of external conditions of attributes
i.e. collection of samples. Robotic perception is the process
by which the machine gathers the input for a given set of
external conditions. It is dened as a link between data
acquisition i.e. sampling conditions measuring real world
physical conditions and converting the resulting samples into
digital numeric values such that it can be manipulated by the
robot. The information is thus extracted from the samples
of data and provided to the machine for the purpose of
evaluation and manipulation to locate the ground water [11].
Animal or human perception is the most advanced but that is
not enough for the process of learning. A human perception
cannot provide results for the possibility of occurrence of
ground water as it cannot penetrate deep down the surface.
Thus, here comes the work of machines .It is the job of
the robot to carry out knowledge gathering for the samples,
performing Boolean probability functions under case base
reasoning and thus provides results [14].
Robust robotic manipulation and perception for a particular
unstructured environment is rstly done via the deliberate
interactions of the robot with the world.Coupling perception
and manipulation has two main advantages: First, perception
can be directed at those aspects of the sensor stream that
are relevant in the context of a specic manipulation task.

II. RELATED CONCEPTS

Robotic perception and the autonomic computing can be
related highlighting the following concepts as the background basic knowledge base for deduction of an approach
detecting ground water.
A. ROBOTIC PERCEPTION

I. I NTRODUCTION
The NASA curiosity robot analyses the surface on mars,
drills the surface and also sends the data to the scientists on
earth on the concept of similarities between the conditions
on earth and that on mars [3], [13]. In the similar fashion,
ground water level detection is also one of the vital problems
in the environmental science [7], [12]. Here, a robot working
on the proposed model and performing automated learning
serves the same purpose as the NASA curiosity robot.
In this paper, the attributes under consideration involves
litho logy, geomorphology, soil type, land type, slope and
lineament that determines the best possibility of occurrence
of ground water [2]. The system is provided with a knowledge base as a backend. Case base reasoning is performed
and the probability of occurrence of ground water is calculated as per the Boolean probability functions propounded.
The robot autonomously thus, performs the action of drilling
a particular site or not. This paper presents an amalgamation
of robotic perception and autonomic computing for ground
water level detection.
This paper is organised with the following sections:
978-1-4799-6929-6/14 $31.00 2014 IEEE
DOI 10.1109/CICN.2014.252
10.1109/.252

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Figure 2.

Figure 1.

Amalgmated Model for Ground Water Detection

based on past references is generated that provides the best

possibilities of presence of water.

Perception of samples

III. PROBLEM DEFINITION

Second, physical interactions can reveal properties of the

environment that would remain otherwise hidden to sensors.
Due to the coupling of physical interaction and perception,
this approach is generally referred to as Interactive perception [4], [8].
Robust robotic manipulation and perception remains a difcult challenge especially in reference to unstructured environment. Here gathering samples provides platform for
correct computation of results, thus need to be correct and
well dened. A robot adopts the environment and analysis
it [1], [6]. On the basis of intuition sufced, the sensed data
is nally gained. Attention is rendered to a particular task
for its retrieval and this leads to situation awareness (SA).
If the SA obtained is appropriate then perception is made.
Here two further cases are involved:
1) If it is adequate enough then experience stored is
located.
2) In case of incomplete perception, learning is done.

It is one of the major challenges for the machine to

learn and autonomously calculate solutions for real life
problems. The below model proposed gives the sequential steps for making the robot learn and act accordingly
providing solutions for the set of samples taken as input.
The basic idea behind the proposed work is to automate
as well as completely utilise the robotic perception for
the detection of ground water for a particular site. This
enables to optimise the utility of machines and reduce human
intervention discouraging any unintentional errors and waste
of effort for the less probable sites.
The theory is dependent on Boolean probability that detect the maximum presence of water for a given analysed
site. This probability is analysed according to the past
experiences of the combination of attributes required for
the maximum occurrence of ground water level. The word
becomes autonomous inspired by the past retrieval of knowledge and case base reasoning performed for experience
storage ultimately leading to the decision making whether
a particular site is drilled for water or not based on its
sufcient possession of water inside.

B. GROUND WATER PENETRATING RADAR FOR ATTRIBUTE DETECTION

For nalizing the attributes that detect the presence of
ground water for a particular given site, ground water
penetrating radar can be used [9].
The ground water penetrating radar is an environmental
sensing tool that is primarily used to detect and identify
the structures within the ground. Although the properties
of such a radar is restricted to the frequency, bandwidth,
etc. which detect the required target in the presence of lossy
and possibly inhomogeneous medium. Such a tool enables to
identify certain attributes that are common for the occurrence
of water within the ground surface and thus, an observation

IV. AMALGMATED MODEL

The solution of the automated approach of the dened
problem of locating ground water is sufced via a model
propounded in the next section. In the Figure 2, we have
shown our proposed model for the ground water detection,
in which we have combine two popular approaches robotic
perception and autonomic computing. Now, we explain the
proposed model in detail.

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A. ENVIRONMENT

Table I
PERCIEVED PARAMETERS

The robot for ground water level detection perceives

the external environment by sensing and acquisition i.e.
the act of acquiring. The attributes necessary to determine
the ground water level are integrated. By this way the
quantitative data is obtained and is transformed to qualitative
data i.e. categorized under the titles of Landform, Geology,
Soil, Land use, Slope and Lineament [1].
Robot make consecutive perceptions in response to the
unknown terms called as symbols. It maintains a mutual
cognitive environment and keeps updating the perception
made through interaction lling the entries for the backend
history table.
Precisely, Sensing quantitative refers to gathering information, attention is focusing and integration is concatenation
that leads to the qualitative output.

S.no

Attributes

Sub Attributes

Landform

Sandstone, Older alluvium,

Limestone

Geology

Active oodplain, River terrace

Soil Type

Sandy silt, loamy soil

4
5
6

Land type
Slope
Lineament

Agricultural land
Gentle
Present

B. INTUITION
The robot is required to work autonomously (selfgoverned) and communicate with emotions. Robot is required to recognize and express their results and output
interactively that leads to performance enhancement. When
a task is performed it is stored as experience. A new task
is matched with the stored experiences and adjudicated (To
act as a judge) accordingly.

Figure 3.

C. AUTONOMOUS BEHAVING SYSTEMS

Flow diagram depicting procedure of action

Different attributes are identied and stored in temporary

space until these are relevant for the occurrence of water.

The autonomous behaving systems also termed as autonomic computing, self-adapting systems, and self-properties,
self-healing principles and self-healing approaches [10].
Autonomous behaviour must independently take decisions
at runtime and manage the assigned systems.
The combined awareness of internal state (i.e. Selfawareness) and external state (i.e. context awareness) is
gained by ltered data from sensing and feedback from
effective interfaces assigned to the context resulting in
accurate system overview.
In a network of resources with more than one instance of
the same task are running simultaneously, some of them
are idle and ready to instantly take over in the event of a
fault. These idle instances are known as SHADOW TASKS
and these receive status updates by the regular tasks in
the mechanism called CHECKPOINTING. Failure detection
through keep alive messages is exchanged between task and
the shadow tasks. Here in the proposed model these shadow
tasks perform two functions:1) Failure detection and recovery.
2) Back probability of occurrence of ground water level
such that the unknown conditions could be found for
optimized water level detection.

E. BOOLEAN PROBABILITY CALCULATION

As per the observations using ground penetrating radar,
the following attributes are enlisted which altogether hold a
very high possibility of occurrence of ground water level.
The above attributes are stored in a variable H. H is
provided to the robot as the back-end. For the current
samples collected, if a complete match occurs for an attribute
it is denoted by 0 or 1 [5].
Figure 3 exhibits the propounded ow diagram highlights
the conditions under which an appropriate action is taken.
The user input i.e., the sample of the soil is perceived
and the analysis on that sample is performed. The situation
knowledge is thus, stored and is computed via (1)U +P
where
= learning parameter i.e. assumed to be 0.5
U = Input
P =Probability of occurrence
For U<=3
No prediction
Display "No. of samples are not
sufficient for prediction"
Perform learning
Collect new samples
For U> 3

D. SITUATION AWARENESS
The situation awareness (SA) refers to the integration of
external samples collected by the robot with respect to time.

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Step 6: Perform Boolean Probability

Calculation.
Step 7: Store experience
Step 8: Perform action
_________________________________________

Perform Boolean probability,

calculate P(H|X)
// deduces the probability of occurrence of
water for a particular sample collected
If P(X|H) >=60%
Action: Drill the site
Display "Solution", P(H|X)
Else
Perform learning
Else if
Total site covered U<2 P(H|X) <60%
Display "Site do not contain
satisfactory occurrence of ground
water".
The Boolean probability is calculated
as:
P(H|X) = [(X|H).(X)]|H*100 %
Where

n

VI. CASE STUDY

In case the robot perceives the following for any given
sample of the soil i.e. the value of U is stored as the
following: LANDFORM: SANDSTONE
GEOLOGY: ACTIVE FLOODPLAIN
SOIL: SANDY SILT
LAND USE: AGRICULTURAL
SLOPE: STEEP
LINEAMENT: ABSENT
For the above mentioned example the solution is calculated
as U=6, H=6, X=4

i=1


X= n i=1 Xc ;
n= no of attributes considered
Xc = samples of current site

P(H|X) = {[(X|H).(X)]|H}*100 %
= {[(4|6).(4)]|6}*100%
= 44.44%


H= n i=1 Xs ;
Xs =samples stored in the database=6
P(H|X) = probability of occurrence of water
when x attributes match the total H
attributes in the backend.
Now,As soon as the samples are collected,
and P(H|X)>=60%, action can be performed
and the required ground water may be
obtained.

SOLUTION: 44
Since it is 44.44%,learning is required
and new samples are collected.
Now, the new samples collected by the robot are:
LANDFORM: SANDSTONE
GEOLOGY: ACTIVE FLOODPLAIN
SOIL TYPE: SANDY LOAM
LANDUSE: AGRICUTURAL
SLOPE: STEEP
LINEAMENT
The solution is calculated as: U=6, H=6, X=5

V. ALGORITHM DESCRIPTION
The algorithm provides a step wise procedure to be
adopted for Boolean probability calculations to deduce
whether to drill particular ground area pertaining sufcient
water or not.

P(H|X) = {[(X|H).(X)]|H}*100 %
= {[(5|6).(4=5)]|6}*100%
= 69.44%
SOLUTION: 69.44%
Since it is 69.44%, action is performed,
i.e. the site is drilled.

Algorithm: GROUND WATER EXTRACTION (GWE)

_________________________________________
Step1: Tag, T a location for presence of
ground water analysis.
Step2: Activate sensors and actuators.
Step 3: For(T=0;T<=n;T++)
//n=Total number of samples for the given
site
Step4: Maintain a vector 'd'.
dlandform, geology, soil type,land type,
slope,lineament=H
//supervised learning approach is deployed.
Step5: Extract features for T stored in U.
U=input for current Tag

ACTION: Drill the site.

Thus, an approach is provided for the robot to provide the
best possible locations for ground water level sites.
VII. RESULTS
The sample of soil is taken by the robot. The attributes
are put into the database. This dataset is matched with H
already fed as backend. Figure 4 exhibits a graph depicting
the probability of occurrence of ground water with respect
to the number of samples perceived and accepted as a hit in
reference to the samples stored in the history table.

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Probability of occurrence of ground water

VIII. C ONCLUSION
In this paper, we have successfully presented the amalgamated technique of Robotic Perception and Autonomic
Computing for detecting the ground water level using the
boolean probability function by considering the various
attributes like geology, soil type, landform, land type, slope
and lineament. In reference to the encouraging results obtained, the approach helps in the demarcation of an area
and area identication. Extending this concept may lead to
generation of ground water probability map of an area as on
Geographic Information Systems (GIS) layer.
ACKNOWLEDGMENT
We are thankful to Gourav Khurana, Rayat Institute
of Engineering and Information Technology. We are also
thankful Mrityunjay Singh, Assistant Professor, SRM University, Modinagar, and Suruchi Sinha, Assistant professor,
IITM Delhi for the esteemed and valuable feedback and
suggestions that helped in carrying the research in the
correct direction facilitating the deduction of positive results.
Sincere thanks to Shri Brijendra Mishra, Research scholar,
Delhi University for his support in attaining the database
highlighting the occurrence of ground water.

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integration of waves of swarms with case based reasoning to
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