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All Teams Overview:

All Teams Overview:. Team 1 Overview. Introduction and Overview. Jorge Franco. Overview. What is AI robotics 3 major paradigms Ways in which intelligence is organized Architectures for paradigms Coherent Reusable Single/Team of robots. Implementations . What are Robots?.

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All Teams Overview:

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  1. All Teams Overview:

  2. Team 1 Overview

  3. Introduction and Overview Jorge Franco

  4. Overview • What is AI robotics • 3 major paradigms • Ways in which intelligence is organized • Architectures for paradigms • Coherent • Reusable • Single/Team of robots Implementations

  5. What are Robots? • Connotation/denotation • anthropomorphic • Origins on January 25, 1921, Prague, Karel Capek’s play, R.U.R (Rossum’sUniversal Robots) • Term derived from Czech word “robota”, loosely translated as menial worker. • Attitude towards robot has disastrous consequences: • Moral of rather socialist story: “Work defines a person”

  6. What are Robots? (cont’d) • Shift from human-like servants made from biological parts to human-like servants made up of mechanical parts duetoscience fiction • Classics: • Metropolis (1926), The Day the Earth Stood Still (1951), and Forbidden Planet (1956) • Shift from human-like mechanical creatures to whatever shape gets the job done is due to reality • Definition used in book: an intelligent robot is a mechanical creature which can function autonomously.

  7. What are Robotic Paradigms? • A paradigm is a philosophy or set of assumptions and/or rules/techniques which characterize an approach to a class of problems • Why know paradigms? • Key to successfully program a robot for an application • Interesting from historical perspective • Issues that spawned one the shift from one paradigm to another • 3 kinds • Hierarchical • Reactive • Hybrid deliberative/reactive • Described in two ways • Relationship between 3 accepted primitives • Sense, Act, Plan • Way that sensory data is processed and distributed through the system

  8. Robot Paradigm Primitives(fig1.2 from book)

  9. Sensing Organization in Robot Paradigms • Way Sensory data: • Processed • Distributed • Local processing • Sensor information restricted to specific/dedicated way for each robot function • Global world model processing • All SI first processed into a global world model • Subsets of model distributed to other functions as needed

  10. a. c. b. Overview of the 3 Paradigmsfig.1.3 a.) Hierarchical, b.) Reactive, and c.) Hybrid deliberative/reactive

  11. Hierarchical Paradigm • 1967 – 1990 • Top down fashion – Heavy on planning • Introspective view • However as Cognitive Psych. now know: • Not always good assessment of thought process. • Default schemas or behaviors • Global world model • Hard and brittle • Frame problem and closed world assumption

  12. Another View of the Hierarchical Paradigm (fig.1.4 from book)

  13. The Reactive Paradigm (fig.1.5 from book)

  14. The Hybrid Deliberative/Reactive Paradigm (fig.1.6 from book)

  15. Representative Architectures • Templates for an implementation • Examples of what each paradigm really means • According to Mataric: an architecture is a principled way of organizing a control system, with constraints on the way the control problem can be solved • Common components in robot architecture and rules of thumb for placing them together • IC car –paradigm • Each car manufacturer has its own architecture • The car manufacturers may have slight modification on their architecture for sedans, convertibles, SUV’s,etc.

  16. Set Criteria for the Evaluation of an Architecture • Modularity • Niche Targetability • Portability • Robustness

  17. Layout of the Section • Divided into 8 chapters • 1. define Robotics • 2. describes Hierarchical Paradigm and 2 architectures • 3. sets the stage for understanding the Reactive Paradigm and the motivation that spawned it. • 4. Describes the Reactive Paradigm and popular architecture • 5. Provides guidelines and case studies on designing robot behaviors • 6. Discusses simple sonar and computer vision processing techniques • 7. Describes the Hybrid Deliberative-Reactive Paradigm • 8. Discusses how the principles of the 3 paradigms have been transferred to team of robots

  18. Sections 1.1 –1.4.1 Willmert Pereyra

  19. Uses of Robots • Dirty jobs. • Dull jobs. • Dangerous jobs.

  20. Robotics Timeline Planetary rovers AI robotics vision Telesystems Industrial manipulators Telemanipulators manufacturing 1960 1970 1980 1990 2000

  21. Old Movies About Robots • Modern Times (Charlie Chaplin), 1936. • Metropolis, 1927. • Silent Running, 1972. • The Phantom Menace, 1999.

  22. Modern Times 1937

  23. Metropolis 1927

  24. Silent Running 1972

  25. The Phantom Menace 1999

  26. Approaches to Robotics • Artificial Intelligence (AI). • Engineering.

  27. AI vs. Engineering • AI: • Uses paradigms. • All actions are human-like. • Engineering: • Does not use paradigms. • Actions performed are mechanical.

  28. Engineering Control Types • Ballistic control: • The position, trajectory and velocity profiles are computed once. • Feedback control: • The error between the goal and current position is noted by a sensor(s): a new trajectory and profile is computed and executed. Then modified in the next update.

  29. AI Robotics Terms • Intelligent Robot: • A mechanical creature which can function autonomously. • Paradigm: • A philosophy or set of assumptions and/or techniques which characterize an approach to a class of problems.

  30. AI Robotics Terms • Luddites: • People who object to robots, or technology in general. • Artificial Intelligence (AI): • (1) Science of making machines act intelligently. (2) The study of ideas that enable computers to be intelligent. (3) An attempt to make computers do things that at present people are better at.

  31. AI Robotics Terms • Teach pendant: • A device that enables the programmer to guide the robot through the desired set of motions. • Automatic Guided Vehicle (AGV): • A vehicle that knows where it is, can plan a path from its current location to its goal destination and can avoid colliding with obstacles.

  32. AI Robotics Terms • Telepresence: • The reduction of cognitive fatigue and simulator sickness by making the human-robot interface more natural: virtual reality. • Telemanipulator: • Sophisticated mechanical linkage which translates motions on one end of the mechanism to motions at the other end.

  33. AI Robotics Terms • Industrial manipulator: • A reprogrammable multifunctional mechanism that is designed to move materials, parts, tools, or specialized devices. • Black factory: • A factory that has no lights turned on because there are no workers.

  34. Architecture Evaluation Criteria • Support for modularity: • Good software engineering principles? • Niche targetability: • Works well for the intended application? • Ease of portability: • Works for other applications or other robots? • Robustness: • Is the system vulnerable? Where?

  35. Model S Telemanipulator

  36. Model S Telemanipulator

  37. Movemaster Robot

  38. Industrial Robots

  39. Robotic Paradigms • Hierarchical. • Reactive. • Deliberative/Reactive.

  40. Defining Paradigm Assumptions • By the relationship between the primitives. • By the way sensor data is processed and distributed.

  41. Global World Model Problems • Constructing generic global world models is very hard due to the frame problem and the closed world assumption.

  42. Global World Model Problems • Frame problem: • Deals with the representation of real-world situations in a way that is computationally tractable. • Closed/Open world assumption: • States that the world model contains everything the robot needs to know (Closed) and if it is violated the robot may not be able to function correctly.

  43. Hierarchical Paradigm • Oldest paradigm. • Prevalent from 1967-1990. • Robot operates top-down. • Emphasizes planning. • Assumes thought is introspective. • A global model captures all sensing data.

  44. Hierarchical Paradigm

  45. Hierarchical Paradigm

  46. Robot Control and Operation Section 1.4.2 – 1.7 George Ragousis

  47. 4 Ways to control and operate a robot • 1. Remote control (RC) • 2. Tele-operation • 3. Semi-autonomous • 4. Autonomous (AI)

  48. 1. Remote control • you control the robot • you can view the robot and it’s relationship to the environment • operator isn’t removed from scene, not very safe • ex. radio controlled cars, bomb robots Boxing RC robots 

  49. 2. Teleoperation • you control the robot • you can only view the environment through the robot’s eyes • don’t have to figure out AI

  50. Remote Local Sensor Communi- cation Display Mobility Control Effector Power 2. Teleoperation Local Remote

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