CS 8520: Artificial Intelligence

1. CS 8520: Artificial Intelligence Robotics Paula Matuszek Fall, 2008

2. What is your favorite robot? HAL 9000 Robby – Forbidden Planet Robocop Data CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

3. What is a robot? “A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Definition: Alternate definition: “A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.” CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

4. What are robots good at? • What is hard for humans is easy for robots. • Repetitive tasks. • Continuous operation. • Complicated calculations. • Refer to huge databases. • What is easy for a human is hard for robots. • Reasoning. • Adapting to new situations. • Flexible to changing requirements. • Integrating multiple sensors. • Resolving conflicting data. • Synthesizing unrelated information. • Creativity. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

5. What tasks would you give robots? • Dangerous • space exploration • chemical spill cleanup • disarming bombs • disaster cleanup • Boring and/or repetitive • welding car frames • part pick and place • manufacturing parts. • High precision or high speed • electronics testing • surgery • precision machining. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

6. What does building robots teach us about humans? • How do our sensors work? • eyes • brain • How do we integrate sensors? • How does our muscular-skeletal system work? • How do we grab and hold an object? • How does our brain process information? • What is nature of intelligence? • How do we make decisions? CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

7. What subsystems make up a robot? • Action • Stationary base • Mobile • Sensors • Control • Power supply Robert Stengel, Princeton Univ. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

8. Action – do some function. • Actuators • pneumatic • hydraulic • electric solenoid • Motors • Analog (continuous) • Stepping (discrete increments) • Gears, belts, screws, levers • Manipulations CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

9. Three types of robot actions. • Pick and place • Moves items between points. • Continuous path control • Moves along a programmable path • Sensory • Employs sensors for feedback CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

10. How do robots move? • Simple joints (2D) • Prismatic — sliding along one axis • square cylinder in square tube • Revolute — rotating about one axis • Compound joints (3D) • ball and socket = 3 revolute joints • round cylinder in tube = 1 prismatic, 1 revolute • Degrees of freedom = Number of independent motions • 3 degrees of freedom: 2 translation, 1 rotation • 6 degrees of freedom: 3 translation, 3 rotation CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

11. Mobility • Legs • Wheels • Tracks • Crawls • Rolls CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

12. What sensors might robots have? • Optical • Laser / radar • 3D • Color spectrum • Pressure • Temperature • Chemical • Motion & Accelerometer • Acoustic • Ultrasonic CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

13. What use are sensors? • Uses sensors for feedback • Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy – servo motors. • Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

14. Control - the Brain • Open loop, i.e., no feedback, deterministic • Instructions • Rules • Closed loop, i.e., feedback • Learn • Adapt CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

15. What are some problems with control of robot actions? • Joint play, compounded through N joints. • Accelerating masses produce vibration, elastic deformations in links. • Torques, stresses transmitted depending on end actuator loads. • Feedback loop creates instabilities. • Delay between sensing and reaction. • Firmware and software problems • Especially with more intelligent approaches CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

16. How do you measures of performance of robot? • Speed and acceleration • Resolution • Working volume • Accuracy • Cost • Plus all the kinds of evaluation functions we have talked about for any AI system. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

17. Measures of Performance • Speed and acceleration • Faster speed often reduces resolution or increases cost • Varies depending on position, load. • Speed can be limited by the task the robot performs (welding, cutting) • Resolution • Often a speed tradeoff • The smallest movement the robot can make • Working volume • The space within which the robot operates. • Larger volume costs more but can increase the capabilities of a robot CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

18. Performance (cont.) • Accuracy • The difference between the actual position of the robot and the programmed position • Repeatability • Will the robot always return to the same point under the same control conditions? • Varies depending on position, load • Cost • Typically a tradeoff – improved performance on other metrics vs lower cost CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

19. How are robots different from automated machinery? • Machinery is designed to carry out a specific task. • Bottling machine • Dishwasher • Paint sprayer • Robots are designed to carry out a variety of tasks • Pick and place arms • Mobile robots • Computer Numerical Control machines • The lines are becoming blurred. CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

20. The Future of Robotics. • Robots that can learn. • Robots with artificial intelligence. • Robots that make other robots. • Swarms CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

21. Lab: • Look at a couple of robotic videos and note: • Which features makes the task something a robot would be used for? • What are the components of the robot: • Action • Sensors • Control • Power Supply • How is their performance? • Speed and acceleration • Resolution • Working volume • Accuracy • Cost CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

22. Some good robotics videos. • Swimming fish: • http://vger.aa.washington.edu/research.html • http://www.newscientist.com/article/dn14101-shoal-of-robot-fish-casts-a-wider-data-net.html • Robot wars: • http://robogames.net/videos.php • Japanese robots: • http://www.ecst.csuchico.edu/~renner/Teaching/Robotics/videos.html (note: about half the links are broken) • Social robots: • http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet/kismet.html • Miscellaneous Robots: • http://www.newscientist.com/article/dn9972-video-top-10-robots.html • http://grinding.be/category/robots • Swarms • http://www.youtube.com/watch?v=SkvpEfAPXn4 CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

23. Play Robot Constructor • http://www.channel4.com/science/microsites/R/robots/constructor.html • What options does it give you for • Action • Sensors • Control • Power Supply CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt

24. Will robots take over the world? • Which decisions can the machine make without human supervision? • May machine-intelligent systems make mistakes (at the same level as humans)? • May intelligent systems gamble when uncertain (as humans do)? • Can (or should) intelligent systems exhibit personality? • Can (or should) intelligent systems express emotion? • How much information should the machine display to the human operator? HAL - 2001 Space Odyssey CSC 8520 Fall, 2008. Paula Matuszek. Slides based on www.jhu.edu/virtlab/course-info/ei/ppt/robotics-part1.ppt and -part2.ppt