1 / 25

Advanced Topics in Robotics CS 790 (X)

Advanced Topics in Robotics CS 790 (X) . Lecture 1 Instructor: Monica Nicolescu. General Information. Instructor: Dr. Monica Nicolescu E-mail: monica@cse.unr.edu Office hours: Monday 11am-noon Monday and Wednesday 3:45-4:45pm Room: SEM 239 Class webpage:

colm
Download Presentation

Advanced Topics in Robotics CS 790 (X)

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Advanced Topics in Robotics CS 790 (X) Lecture 1 Instructor: Monica Nicolescu

  2. General Information • Instructor: Dr. Monica Nicolescu • E-mail: monica@cse.unr.edu • Office hours: Monday 11am-noon Monday and Wednesday 3:45-4:45pm • Room: SEM 239 • Class webpage: • http://www.cse.unr.edu/~monica/Courses/CS790X/ • Time and place • Thursday: 2:30-3:45pm SEM 201 CS 790(X) - Lecture 1

  3. What will we Learn? • Cover fundamental aspects of robotics • Control architectures • Sensing and perception • Advanced robotics techniques • Robot learning by demonstration • Navigation and mapping • Multiple robot systems: coordination and cooperation • Human-robot interaction • Biologically inspired robotics • Hands-on experience CS 790(X) - Lecture 1

  4. Readings and Presentations • Two papers (on average) discussed at each lecture • Each paper is presented by a student • For some lectures we will have one background reading • Presentation guidelines (papers) • At most 30 minutes • Briefly summarize the paper • Discuss the paper, its strengths, weaknesses, any points needing clarification • Addressing any questions the other students may have • Presentation guidelines (background reading) • At most 45 minutes • Area challenges, existing approaches, case studies CS 790(X) - Lecture 1

  5. Readings and Paper Reports • For each paper, all students must submit, at the beginning of the class a brief report of the paper • Report format (typed) • Student's name • Title and authors of the paper • A short paragraph summarizing the contributions of the paper • A critique of the paper that addresses the strengths and weaknesses of the paper • Summary of background reading if applicable • Area challenges, existing approaches, case studies CS 790(X) - Lecture 1

  6. Project • Individual project on topics covered in class • Project topics: an implementation of either: • a single robot system (involving complex behavior and demonstrated on a physical robot) or • a multi-robot system (involving cooperation/ communication/ coordination between robots and demonstrated in simulation or on a physical robot) CS 790(X) - Lecture 1

  7. Project/Lab Testbeds • The Robot Operating System (http://www.ros.org/wiki/) • ROS provides libraries and tools to create robot applications • ROS provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management • Stage is a ROS-compatible high-fidelity indoor multi-robot simulation testbed • Allows for direct porting to ROS-compatible physical robots CS 790(X) - Lecture 1

  8. Project/Lab Testbeds • 11 ActivMedia Pioneer 3 DX • sonar sensors, laser, PTZ camera, onboard computer • One Player-compatible ActivMedia Pioneer 1 AT robot • 7 sonar sensors and requires the use of a laptop (not provided) • 10 Robosapien robots • On-board CPU • 10 Create robots • 1.2 GHz CPU CS 790(X) - Lecture 1

  9. Project Report • Should include the following: • Title, author • Abstract • Introduction and motivation • Review of relevant literature • Problem definition: project goals, assumptions, constraints, and evaluation criteria • Details of proposed approach • Results and objective experimental evaluation • Discussion (strengths and weaknesses) and conclusion • References • Appendix (relevant code or algorithms) CS 790(X) - Lecture 1

  10. Class Policy • Grading • Paper reports: 20% • Paper presentations: 20% • Participation in class discussions: 20% • Final project: 40% • Late submissions • No late submissions will be accepted • Attendance • Full participation in class discussions and labs CS 790(X) - Lecture 1

  11. Important Dates/Milestones • February 24 • Project topic proposal and presentation (5 slides) • One page that outlines the specific goals, contribution, implementation platform and the proposed approach • After Feb 24 (see calendar) • Review of relevant literature (# slides - flexible) • Review of literature relevant to the project topics CS 790(X) - Lecture 1

  12. Important Dates/Milestones • April 21 • Project status presentations (3-5 slides) • 5 minute in-class presentation • Partial report that describes the current status of the project • Abstract, introduction and motivation, problem definition (goals, constraints, etc.), what has been done, what is still to be done CS 790(X) - Lecture 1

  13. Important Dates/Milestones • May 14 • Project final presentations  • Project final demonstrations • Project final reports due CS 790(X) - Lecture 1

  14. Research Progress CS 790(X) - Lecture 1

  15. Optional Textbooks • Basic topics • The Robotics Primer, 2007. Author: Maja Mataric' • Advanced topics • Behavior-Based Robotics, 2001Author: Ron Arkin • Available at the library • Broad topics • Springer Handbook of Robotics, 2008 • Siciliano, Bruno; Khatib, Oussama, editors CS 790(X) - Lecture 1

  16. Where do Robots Come From? • The term robot comes from “robota” (subordinate work) • Karel Capek’s 1921 play RUR (Rossum’s Universal Robots) • Robotics grew out of the fields of control theory, cyberneticsandAI • 1940s: first explorations of the connection between human intelligence and machines, around the time of cybernetics • 1960s:early robots are built, benefitting from two technologies numerical control machines for precise manufacturing, and teleoperators for remote radioactive material handling Robotics = the science and technology of robots CS 790(X) - Lecture 1

  17. A Brief History of Robotics • 1970s: industrial robots, became essential components in the automation of flexible manufacturing systems, due to development of integrated circuits, digital computers and miniaturized components • General industry: metal products, the chemical, the electronics and the food industries • Early AI had a strong impact on how it evolved (1950s-1970s), emphasizing reasoning and abstraction, removal from direct situatedness and embodiment • 1980s: robotics was defined as the science which studies the intelligent connection between perception and action CS 790(X) - Lecture 1

  18. A Brief History of Robotics • 1990s:the need to use robots in hazardous environments (field robotics), or to enhance the human operator ability (human augmentation), or to improving the quality of life (service robotics). • 2000:from industrial robotics to challenges of the human world (human-centeredandlife-like robotics) • Need for a higher degree of autonomy! • Wide range of applications • biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks CS 790(X) - Lecture 1

  19. What is in a Robot? • Sensors • Effectors and actuators • Used for locomotion and manipulation • Controllers for the above systems • Coordinating information from sensors with commands for the robot’s actuators CS 790(X) - Lecture 1

  20. Challenges of Robot Control • Perception • Limited, noisy sensors, diversity of sensors • Actuation • Limited capabilities of robot effectors • Thinking • Time consuming, different time scales for response, real-time demands, everything happens concurrently and asynchronously • Environments • Dynamic, impose fast reaction times • Lots of architectures exists • No single architecture is best for all applications CS 790(X) - Lecture 1

  21. Robot Architectures • Robot control is the means by which the sensing and action of a robot are coordinated • Robot architectures • Structure: how the system is divided into subsystems and how they interact • Style: computational concepts • Common feature of architectures • Modular decomposition of systems into simpler, independent pieces  increase reliability and decrease complexity • Software tools • Help development in a particular architectural style (specialized languages, communication libraries) CS 790(X) - Lecture 1

  22. Spectrum of robot control From “Behavior-Based Robotics” by R. Arkin, MIT Press, 1998 CS 790(X) - Lecture 1

  23. Robot control approaches • Reactive Control • Don’t think, (re)act. • Deliberative (Planner-based) Control • Think hard, act later. • Hybrid Control • Think and act separately & concurrently. • Behavior-Based Control (BBC) • Think the way you act. CS 790(X) - Lecture 1

  24. W. Grey Walter’s Tortoise • Machina Speculatrix” (1953) • 1 photocell, 1 bump sensor, 1 motor, 3 wheels, 1 battery • Behaviors: • seek light • head toward moderate light • back from bright light • turn and push • recharge battery • Uses reactive control, with behavior prioritization http://www.youtube.com/watch?v=lLULRlmXkKo CS 790(X) - Lecture 1

  25. Background Readings • M. Matarić: Chapters 1, 3 CS 790(X) - Lecture 1

More Related