CTEC1414 Lecture 19

CSCI1412 - Introduction to Robots

CTEC1414Lecture 19RoboticsIntroduction to RobotsDr John Cowell

phones off (please)1OverviewWhat is a Robot?Static Robots v Mobile RobotsEnvironmentsRobots in:IndustryEducation/EntertainmentExplorationThe future?2What is a Robot?3What is a Robot?The word robot was originated in 1921 by the author Karel Capek, from the Czech robota meaning forced labourrobotics appeared in 1942 in a novel by Isaac AsimovAccording to the Japanese Industrial Robot Association (JIRA), robots are defined asclass 1: manual handling devicesdevice with several degrees of freedom actuated by operatorclass 2: fixed sequence robothandling device which performs the successive stages of a task according to a predetermined, unchanging method, which is difficult to modify4More DefinitionsJIRA robot definitions, continuedclass 3: variable sequence robotas class 2, but the stages can be easily modifiedclass 4: playback robotthe robot can repeat (playback) a sequence of tasks recorded from a human operator leading or controlling the robotclass 5: numerical control robothuman operator supplies the robot with a movement programclass 6: intelligent robota robot with the means to understand its environment and the ability to complete tasks despite changes in conditionsThe Robotics Institute of America (RIA) considers only machines in class 3 and above to be robots5Why Study Robotics?Two main reasonsappliedto create robots to be used in various environmentsindustrial/commercialeducational/entertainmentmedicalunderwaterplanetary explorationnuclear power stationsbomb disposaltheoreticalto investigate intelligent behaviourartificial intelligencecognitive sciencepsychology6Static Robots v Mobile Robots7What are Static & Mobile Robots?Robots are eitherStaticfixed in placeeg industrial assemblyMobilethe robot moves!Both may have a certain amount of autonomy, but mobile robots usually require morebut there can be some difficulty with communicationeg underwater, in spacespeed8Static RobotsWidely used in industrygenerally fixed in placeusually have a range of interchangeable toolswelding, placing, fixing, shaping, etcneed just enough programming to do the specified jobbasic are Computer Numerically Controlled machines

9Autonomous Mobile RobotsDictionary definitions of autonomousundertaken without outside controlcarry on-board sensors, controllers and power suppliesfor example, automated guided vehicles (AGVs) that operate in factories by following tracks to move parts & equipmentweak autonomyhaving the power of self-governmentable to adapt to changing environmentsdetermine its course of action by its own reasoning processthe ability to build internal representations of the worldthe ability to learn from experience and plan new actionsstrong autonomy / intelligent mobile robots10What is Intelligence?Intelligence is very difficult to defineThe extent to which we regard something as behaving in an intelligent manner is determined as much by our own state of mind and training as by the properties of the object under consideration. If we are able to explain and predict its behaviour or if there seems to be little underlying plan, we have little temptation to imagine intelligence. With the same object, therefore, it is possible that one man would consider it as intelligent and another would not; the second man would have found out the rules of its behaviour.Alan Turing, 194711Components of a RobotA robot comprises three main component classessensorsa device giving a signal for the detection or measurement of a physical property to which it respondsO.E.D.provides the inputs to the robotsoftwareprogrammed behaviour(s); data and memorymakes decisions for the robotactuatorsa thing which moves to mechanical action, communicates motion to, or impels (an instrument, machine, or agent)effects the outputs from the roboteg motors, lights, sound, etc12General Purpose Robots?A general purpose robot is not possiblea general purpose living thing does not existhumans are the most intelligent (???)but humans are poor atflying (c.f. swallow, swift, Arctic tern, housefly)swimming (c.f. tuna, sperm whale)but humans aresurviving (c.f. scorpions, ants)excellent generalisers!A robots function and operation are defined by its own behaviour within a specific environment, taking into account a specific taskonly the simultaneous description of a robot, its task and the environment describes the robot completely13Environments14RelationshipsA robot, its task and the environment all depend on, and influence, each othere.g. a spider in the bath!quantum physics15robottaskenvironmentEnvironment TypesThere are many different types of environment in which a robot may be required to operateEnvironments are typically categorised by their degree of structureAlthough there is no solidly accepted definition of structures, environments can be split into one of the following categoriesstructuredpartially structuredunstructured16Structured EnvironmentsA structured environment has been specially designed for the robot to operate ine.g. an artificial mazea factory floor with in-built tracks to followan exact description of the environment can be supplied to the robot during its design phasevery little or perhaps no sensor data may be requiredThere are usually no unexpected or unplanned dynamic aspects to the environmentthe environment does not changethe robot has been told in advance of how and when the environment will change, and how to deal with it17Unstructured EnvironmentsComplex environments for which no models or maps exist, or can even be accurately generatedrobots generally operate purely in response to real-time sensor dataSuch environments usually have significant dynamic changesnatural, real-world as opposed to artificially createdmay have unknown attributese.g. deep-sea explorationor may be almost entirely unknowne.g. planetary probes18Partially StructuredSomewhere between the previous two extremes!an environment which may be modelled to a certain extent, but with insufficient model detail to fully support task completionPossibly, the static component of the environment has been modelled, but the dynamic changes are unpredictable and must be sensedfor example, a factory floor with in-built tracks to follow, but with unpredictable (e.g. human) obstacles to avoidthe second Mars explorer!19Robots in Industry20Assembly Line RobotsProbably the most common use of robots is on assembly/production lines in factoriesRobots dont get bored or tiredor take industrial actionMost of these industrial robots are multi-purposethey can be used for a variety of jobsassembly, welding, cutting, milling, etc

21Building a 7-series BMWRobots in Education/Entertainment22Robots in FilmsMany of our present concerns/worries have been created by the appearance of robots in films

Metropolis (Fritz Lang, 1927)Maria (left)the first artificial human in filmapparently George Lucas based C3PO on herForbidden PlanetRobbie the Robot (right)The Day the Earth Stood StillGortinterstellar policemanTerminator (&T2, T3)from the future to change historyI, Robot (movie)based on the writings of I Asimovthe robotic brain broke the 3 Laws of Robotics

23FischertechnikMake a range of educational/industrial simulation kitsCan make a complete production line from plug-together components!The claim is that a company can test before ordering the real thing!Also used for trainingGoto http://www.fischertechnik.com/

24Robot DogsSony made the AIBO Entertainment Robot ($1899)In autonomous mode, the ERS-7M2 walks more fluidly, plays soccer with its Pink Ball, plays with its AIBOne, sits, lies down, rights itself, and even self-charges. The ERS-7M2 also uses its Illume-Face, tail, ears, lights, and MIDI sounds to express a wide variety of emotions and instincts to entertain you. The ERS-7M2 also now pays special attention to 3 owners and remembers AIBOs favorite place thanks to new voice and visual recognition technology.http://www.sonystyle.com/is-bin/INTERSHOP.enfinity/eCS/Store/en/-/USD/SY_DisplayProductInformation-Start?ProductSKU=ERS7M2%2fW&Dept=AIBO&CategoryName=aibo_AIBOs_7%2fWSeries#features

25Lego MindStormRCX programmable brick3 inputs, 3 outputsPC interface and IDE RoboLabTransfer program to RCX via an InfraRed port

26Robots as Explorers27Inaccessible areasThere are many areas that are difficult or dangerous for humans to gounderwater, planetary exploration, nuclear power stations, bomb disposalSmall, inexpensive (!) and easily replaceable robots can be used instead

28Space ExplorationMars landersSojourner (17/7/97)Mars Rover (4/1/2004)Titan (Saturns MoonHuygens (with Cassini)

29Mars RoverSojourner

Huygens is the gold dome on the side of Cassini.Note the size of CassiniRobots UnderwaterBuilding SubMarine robots is all about water proofinghttp://orionrobots.co.uk/tiki-index.php?page=SubMarineRadio control is difficult underwater, so a high degree of autonomous programming is requiredE.g.unmanned submarinesrobotic fishmine clearance crabsmineral extractionexploration/recoveryE.g. Titanic and Bismarktourism

30The Future?31Nano RobotsA team of New York University researchers has taken a major step in building a more robust, controllable machine from DNA, the genetic material of all living organismsConstructed from synthetic DNA molecules, the device improves upon previously developed nano-scale DNA devices because it allows for better-controlled movement within larger DNA constructsThe researchers say that the new device may help build the foundation for the development of sophisticated machines at a molecular scale, ultimately evolving to the development of nano-robots that might some day build new molecules, computer circuits or fight infectious diseases.http://www.spacedaily.com/news/nanotech-02a.html32Robots in MedicineNanodevices will be used for the purpose of maintaining and protecting the human body against pathogensThey will have a diameter of about 0.5 to 3 microns and will be constructed out of parts with dimensions in the range of 1 to 100 nanometersThe main element used will be carbon in the form of diamond/fullerene nanocomposites because of the strength and chemical inertness of these formsA navigational network may be installed in the body, with stationkeeping navigational elements providing high positional accuracy to all passing nanorobots that interrogate them, wanting to know their locationenables the physician to keep track of the various devices in the bodyWhen the task of the nanorobots is completed, they can be retrieved by allowing them to exfuse themselves via the usual human excretory channelsthey can also be removed by active scavenger systems http://www.ewh.ieee.org/r10/bombay/news3/page4.html33Useful Web-sitesThere are many robotics web-sitesstart from, for examplehttp://ai.about.com/compute/ai/cs/roboticshttp://spider.sci.brooklyn.cuny.edu/~parsons/courses/840-fall-2004/robots.htmlLEGO Mindstormshttp://www.legomindstorms.comAndroidshttp://www.androidworld.com/prod02.htm34BooksMobile Robotics: A Practical IntroductionUlrich Nehmzow, Springer, 2000, ISBN: 1-85233-173-9very heavily biased towards neural network controlThe Unofficial Guide to LEGO Mindstorms RobotsJ.B. Knudsen, OReilly, 1999, ISBN: 1-565-92692-7includes a practical example of subsumption architecture35SummaryWhat is a Robot?Static Robots v Mobile RobotsEnvironmentsRobots in:IndustryEducation/EntertainmentExplorationThe future?36