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Robotics
for School
2010
www.cyberlabzone.com
The Word Robot
may bring to your
mind a pictures of
this….
www.cyberlabzone.com
Or May BE this….
www.cyberlabzone.com
But a Robot
Need To BE A
Machine
Resembling
Human…
www.cyberlabzone.com
Instead It can as simple as
This…
www.cyberlabzone.com
Humanoids & (AI)Artificial Intelligence
Are all the final outcomes of Robotics
To talk about them now will be to
Early…..
www.cyberlabzone.com
So let us Start
with Some Basic
Right From Ground
ZERO
www.cyberlabzone.com
www.cyberlabzone.com
The Three Laws of Robotics
• A robot may not injure a human being, or,
through inaction, allow a human being to come to
harm.
• A robot must obey the orders given it by human
beings except where such orders would conflict
with the First Law.
• A robot must protect its own existence as long as
such protection does not conflict with the First or
Second Law.
www.cyberlabzone.com
• The word robot introduced by Czech playwright Karle Capek: robots
are machines which resemble people but work tirelessly.
• His view is still to be fulfill!
Best soccer player ever Best robot player ever
A Brief History of Robotics
www.cyberlabzone.com
Two famous robots:
Puma. (Programmable Universal Machine for
Assembly). ‘78.
SCARA. (Selective Compliant Articulated Robot
Assembly). ‘79.
PUMA SCARA
www.cyberlabzone.com
Classification of Robots II AFR
• Type A: Handling Devices with manual control
• Type B: Automatic Handling Devices with predetermined cycles
• Type C: Programmable, servo controlled robots
• Type D: Type C with interactive with the environment
AFR: The Association Française de Robotique
www.cyberlabzone.com
Year: 1250
Bishop Albertus Magnus holds banquet at which guests
were served by metal attendants. Upon seeing this, Saint
Thomas Aquinas smashed the attendants to bits and
called the bishop a sorcerer.
The Origins of Robots
Year:1640
Descartes builds a female automaton which he
calls “Ma fille Francine.” She accompanied
Descartes on a voyage and was thrown
overboard by the captain, who thought she was
the work of Satan.
www.cyberlabzone.com
The Origins of Robots
Year : 1738
Jacques de Vaucanson builds a mechanical duck
made of more that 4,000 parts. The duck could
quack, bathe, drink water, eat grain, digest it and
void it. Whereabouts of the duck are unknown
today.
Year: 1805
Doll, made by Maillardet, that wrote in either
French or English and could draw landscapes.
www.cyberlabzone.com
The Origins of Robots
Year:1940
Sparko, the Westinghouse dog, uses
both mechanical and electrical
components
Year:1960
Industrial Robots created. Robotic Industries Association
states that an
“industrial robot is a re-programmable, multifunctional
manipulator
designed to move materials, parts, tools, or specialized
devices through
variable programmed motions to perform a variety of
tasks.
www.cyberlabzone.com
The Origins of Robots
Year:1960
Shakey is made at Stanford Research Institute
International. It contained a television camera,
range finder, on-board logic, bump sensors,
camera control unit, and an antenna for a radio
link. Shakey was controlled by a computer in a
different room.
www.cyberlabzone.com
Combining these fields we can create a system that can
SENCE
PLAN
ACT
www.cyberlabzone.com
In this Presentation we will study many aspects of robotics.
1. General Robot Structures
2. General Definitions
3. Sensors and Sensor Planning
4. Actuators
5. Vision
6. Artificial Intelligence
7. Motion Planning
8. Mobile Robot
9. Forward Kinematics
10. Inverse Kinematics
www.cyberlabzone.com
General Robot Structures
An Robot normally constitutes of:
– A sequence of mechanical bodies called LINKS.
– Prismatic or revolute JOINTS connecting links.
– ACTUATORS to move these joints.
– SENSORS
• To measure status of robot
• To measure status of environment
– A programmable CONTROL system.
– A SUPERVISION system.
www.cyberlabzone.com
General Definition Robot
Look at a Venn diagram of
Mechanical
Electrical Hardware
Software
Control Systems.
Robotics is the
overlapping area at the
center of the three
www.cyberlabzone.com
Sensor & Sensor Planning
where should I dig?
where
is the
truck?
Sensing Planning Acting
information
about the
environment
action
on the
environment
www.cyberlabzone.com
What is Sensing ?
• Collect information about the world
• Sensor - an electrical/mechanical/chemical device that maps an environmental
attribute to a quantitative measurement
– attribute mixtures - often no one to one map
– hidden state in environment
• Each sensor is based on a transduction principle - conversion of energy from one
form to another
• Also known as transducers
www.cyberlabzone.com
Types Of Sensor
• Active
– send signal into environment and measure
interaction of signal w/ environment
– e.g. radar, sonar
• Passive
– record signals already present in environment
– e.g. video cameras
www.cyberlabzone.com
Where is the face?
Sensing for specific tasks
www.cyberlabzone.com
Actuator Is An
• A mechanical device for moving or controlling something
• Electric Motors and Drives
• Hydraulic Drives
• Pneumatic Drives
• Internal Combustion hybrids
Electro-hydraulic System Example
Hydraulic Cylinder Actuators
www.cyberlabzone.com
Robot vision in social settings
• Humans (and robots) recover information
about objects from the light they reflect
• Human head and eye movements give clues
to attention and motivation
• In a social context, people constantly read
each other’s actions for these clues
• Anthropomorphic robots can partake in this
implicit communication, giving smooth and
intuitive interaction
www.cyberlabzone.com
Artificial Intelligence
Artificial Intelligence is the study of the
computations that make it possible to
perceive, reason, and act.”
Ability to think and learn. The ability to
learn facts and skills and apply them,
especially when this ability is highly
developed.
www.cyberlabzone.com
Motion Planning
•Motion planning is aimed at enabling robots with the
capabilities of automatically deciding and executing a
sequence of motions in order to achieve a task
without collision with other objects in a given
environment.
• Basic Problem: Static obstacles
• Extended Problems: Moving obstacles, Multiple
robots, Dynamic Constraints, Planning with
uncertainties, and etc.
www.cyberlabzone.com
Areas involve Robot Motion planning
• Mars Exploration
Rovers:
– Robot geologists
– Vision System
• 2 panoramic cams
• 2 navigation cams
• 4 hazard avoidance
cams
– Brain: laptop computer
inside the Rovers
Electronics Module
www.cyberlabzone.com
Mobile Robot
• “Mobile” means not stay-put at one place
• Mobile + Robot = Robot that is not stay-put at one
place….thus Mobile Robot can move around in much
larger workspace, seeing, touching, transporting,
manipulating things in various location
www.cyberlabzone.com
Mobile Robot Applications
Construction
Security
Personal affair
Material Handling
Entertainment
Landmines detection
www.cyberlabzone.com
Manipulator kinematics
Type of joints
• Frame assignments
• Link connection description
• Link transformations
• Actuator space
www.cyberlabzone.com
What do we mean by “Intelligence”?
• Open question: where intelligence begins
and ends
• Intelligence (our working definition):
the ability to improve an animal or human’s
likelihood of survival within the real world,
and, where appropriate, to compete or
cooperate successfully with other agents to
do so.
www.cyberlabzone.com
Summary of Robot Behavior
• Presence of stimulus is necessary, but not
sufficient, to evoke a motor response. Only when
stimulus exceeds a threshold does it produce a
response.
• A strength multiplier, or gain g, can be used to
turn off behaviors or alter the response’s relative
strength.
• Responses are encoded in two forms:
– –Discrete encoding: Rule-based methods often used
– –Continuous functional encoding: inverse square law
often used
www.cyberlabzone.com
Advantages of Robots
• Robotics and automation can, in many situation, increase
productivity, safety, efficiency, quality, and consistency of
products
• Robots can work in hazardous environments
• Robots need no environmental comfort
• Robots work continuously without any humanity needs
and illnesses
• Robots have reputable precision at all times
• Robots can be much more accurate than humans, they may
have mile or micro inch accuracy.
• Robots and their sensors can have capabilities beyond that
of humans
• Robots can process multiple stimuli or tasks
simultaneously, humans can only one.
• Robots replace human workers who can create economic
problems www.cyberlabzone.com
Disadvantages of Robots
• Robots lack capability to respond in emergencies, this can cause:
– Inappropriate and wrong responses
– A lack of decision-making power
– A loss of power
– Damage to the robot and other devices
– Human injuries
• Robots may have limited capabilities in
– Degrees of Freedom
– Dexterity
– Sensors
– Vision systems
– Real-time Response
• Robots are costly, due to
– Initial cost of equipment
– Installation Costs
– Need for peripherals
– Need for training
– Need for Programming
www.cyberlabzone.com
Possible Robot Coordinate Frames
www.cyberlabzone.com
New Directions
• Entertainment / social robots
• Humanoid robots
• Swarm / distributed robots
• New robot locomotion mechanisms
• Application-specific robotics
• Medical robots
• Telemedicine
www.cyberlabzone.com
Discussion of Ethics and Philosophy in
Robotics
•Can robots become conscious?
•Is there a problem with using robots in military
applications?
•How can we ensure that robots do not harm
people?
www.cyberlabzone.com
What is Robotics - Robotics Concept Explained for Kids

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What is Robotics - Robotics Concept Explained for Kids

  • 2. The Word Robot may bring to your mind a pictures of this…. www.cyberlabzone.com
  • 3. Or May BE this…. www.cyberlabzone.com
  • 4. But a Robot Need To BE A Machine Resembling Human… www.cyberlabzone.com
  • 5. Instead It can as simple as This… www.cyberlabzone.com
  • 6. Humanoids & (AI)Artificial Intelligence Are all the final outcomes of Robotics To talk about them now will be to Early….. www.cyberlabzone.com
  • 7. So let us Start with Some Basic Right From Ground ZERO www.cyberlabzone.com
  • 9. The Three Laws of Robotics • A robot may not injure a human being, or, through inaction, allow a human being to come to harm. • A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. • A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. www.cyberlabzone.com
  • 10. • The word robot introduced by Czech playwright Karle Capek: robots are machines which resemble people but work tirelessly. • His view is still to be fulfill! Best soccer player ever Best robot player ever A Brief History of Robotics www.cyberlabzone.com
  • 11. Two famous robots: Puma. (Programmable Universal Machine for Assembly). ‘78. SCARA. (Selective Compliant Articulated Robot Assembly). ‘79. PUMA SCARA www.cyberlabzone.com
  • 12. Classification of Robots II AFR • Type A: Handling Devices with manual control • Type B: Automatic Handling Devices with predetermined cycles • Type C: Programmable, servo controlled robots • Type D: Type C with interactive with the environment AFR: The Association Française de Robotique www.cyberlabzone.com
  • 13. Year: 1250 Bishop Albertus Magnus holds banquet at which guests were served by metal attendants. Upon seeing this, Saint Thomas Aquinas smashed the attendants to bits and called the bishop a sorcerer. The Origins of Robots Year:1640 Descartes builds a female automaton which he calls “Ma fille Francine.” She accompanied Descartes on a voyage and was thrown overboard by the captain, who thought she was the work of Satan. www.cyberlabzone.com
  • 14. The Origins of Robots Year : 1738 Jacques de Vaucanson builds a mechanical duck made of more that 4,000 parts. The duck could quack, bathe, drink water, eat grain, digest it and void it. Whereabouts of the duck are unknown today. Year: 1805 Doll, made by Maillardet, that wrote in either French or English and could draw landscapes. www.cyberlabzone.com
  • 15. The Origins of Robots Year:1940 Sparko, the Westinghouse dog, uses both mechanical and electrical components Year:1960 Industrial Robots created. Robotic Industries Association states that an “industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions to perform a variety of tasks. www.cyberlabzone.com
  • 16. The Origins of Robots Year:1960 Shakey is made at Stanford Research Institute International. It contained a television camera, range finder, on-board logic, bump sensors, camera control unit, and an antenna for a radio link. Shakey was controlled by a computer in a different room. www.cyberlabzone.com
  • 17. Combining these fields we can create a system that can SENCE PLAN ACT www.cyberlabzone.com
  • 18. In this Presentation we will study many aspects of robotics. 1. General Robot Structures 2. General Definitions 3. Sensors and Sensor Planning 4. Actuators 5. Vision 6. Artificial Intelligence 7. Motion Planning 8. Mobile Robot 9. Forward Kinematics 10. Inverse Kinematics www.cyberlabzone.com
  • 19. General Robot Structures An Robot normally constitutes of: – A sequence of mechanical bodies called LINKS. – Prismatic or revolute JOINTS connecting links. – ACTUATORS to move these joints. – SENSORS • To measure status of robot • To measure status of environment – A programmable CONTROL system. – A SUPERVISION system. www.cyberlabzone.com
  • 20. General Definition Robot Look at a Venn diagram of Mechanical Electrical Hardware Software Control Systems. Robotics is the overlapping area at the center of the three www.cyberlabzone.com
  • 21. Sensor & Sensor Planning where should I dig? where is the truck? Sensing Planning Acting information about the environment action on the environment www.cyberlabzone.com
  • 22. What is Sensing ? • Collect information about the world • Sensor - an electrical/mechanical/chemical device that maps an environmental attribute to a quantitative measurement – attribute mixtures - often no one to one map – hidden state in environment • Each sensor is based on a transduction principle - conversion of energy from one form to another • Also known as transducers www.cyberlabzone.com
  • 23. Types Of Sensor • Active – send signal into environment and measure interaction of signal w/ environment – e.g. radar, sonar • Passive – record signals already present in environment – e.g. video cameras www.cyberlabzone.com
  • 24. Where is the face? Sensing for specific tasks www.cyberlabzone.com
  • 25. Actuator Is An • A mechanical device for moving or controlling something • Electric Motors and Drives • Hydraulic Drives • Pneumatic Drives • Internal Combustion hybrids Electro-hydraulic System Example Hydraulic Cylinder Actuators www.cyberlabzone.com
  • 26. Robot vision in social settings • Humans (and robots) recover information about objects from the light they reflect • Human head and eye movements give clues to attention and motivation • In a social context, people constantly read each other’s actions for these clues • Anthropomorphic robots can partake in this implicit communication, giving smooth and intuitive interaction www.cyberlabzone.com
  • 27. Artificial Intelligence Artificial Intelligence is the study of the computations that make it possible to perceive, reason, and act.” Ability to think and learn. The ability to learn facts and skills and apply them, especially when this ability is highly developed. www.cyberlabzone.com
  • 28. Motion Planning •Motion planning is aimed at enabling robots with the capabilities of automatically deciding and executing a sequence of motions in order to achieve a task without collision with other objects in a given environment. • Basic Problem: Static obstacles • Extended Problems: Moving obstacles, Multiple robots, Dynamic Constraints, Planning with uncertainties, and etc. www.cyberlabzone.com
  • 29. Areas involve Robot Motion planning • Mars Exploration Rovers: – Robot geologists – Vision System • 2 panoramic cams • 2 navigation cams • 4 hazard avoidance cams – Brain: laptop computer inside the Rovers Electronics Module www.cyberlabzone.com
  • 30. Mobile Robot • “Mobile” means not stay-put at one place • Mobile + Robot = Robot that is not stay-put at one place….thus Mobile Robot can move around in much larger workspace, seeing, touching, transporting, manipulating things in various location www.cyberlabzone.com
  • 31. Mobile Robot Applications Construction Security Personal affair Material Handling Entertainment Landmines detection www.cyberlabzone.com
  • 32. Manipulator kinematics Type of joints • Frame assignments • Link connection description • Link transformations • Actuator space www.cyberlabzone.com
  • 33. What do we mean by “Intelligence”? • Open question: where intelligence begins and ends • Intelligence (our working definition): the ability to improve an animal or human’s likelihood of survival within the real world, and, where appropriate, to compete or cooperate successfully with other agents to do so. www.cyberlabzone.com
  • 34. Summary of Robot Behavior • Presence of stimulus is necessary, but not sufficient, to evoke a motor response. Only when stimulus exceeds a threshold does it produce a response. • A strength multiplier, or gain g, can be used to turn off behaviors or alter the response’s relative strength. • Responses are encoded in two forms: – –Discrete encoding: Rule-based methods often used – –Continuous functional encoding: inverse square law often used www.cyberlabzone.com
  • 35. Advantages of Robots • Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products • Robots can work in hazardous environments • Robots need no environmental comfort • Robots work continuously without any humanity needs and illnesses • Robots have reputable precision at all times • Robots can be much more accurate than humans, they may have mile or micro inch accuracy. • Robots and their sensors can have capabilities beyond that of humans • Robots can process multiple stimuli or tasks simultaneously, humans can only one. • Robots replace human workers who can create economic problems www.cyberlabzone.com
  • 36. Disadvantages of Robots • Robots lack capability to respond in emergencies, this can cause: – Inappropriate and wrong responses – A lack of decision-making power – A loss of power – Damage to the robot and other devices – Human injuries • Robots may have limited capabilities in – Degrees of Freedom – Dexterity – Sensors – Vision systems – Real-time Response • Robots are costly, due to – Initial cost of equipment – Installation Costs – Need for peripherals – Need for training – Need for Programming www.cyberlabzone.com
  • 37. Possible Robot Coordinate Frames www.cyberlabzone.com
  • 38. New Directions • Entertainment / social robots • Humanoid robots • Swarm / distributed robots • New robot locomotion mechanisms • Application-specific robotics • Medical robots • Telemedicine www.cyberlabzone.com
  • 39. Discussion of Ethics and Philosophy in Robotics •Can robots become conscious? •Is there a problem with using robots in military applications? •How can we ensure that robots do not harm people? www.cyberlabzone.com