Quick Overview of Robotics and Artificial Intelligence

1. Quick Overview of Robotics and Artificial Intelligence Marek Perkowski Intelligent Robotics Laboratory Portland State University Class of 2002

2. Intelligent Robotics = Robotics + Artificial Intelligence • ECE 478/479: • Course website • www.ece.pdx.edu/~mperkows • Instructor: Marek Perkowski • Office: FAB (Fourth Avenue Building), room 160-05Extension: 725-5411 Email: mperkows@ee.pdx.edu Hours: TR 3:30-4:30 (or by appointment) • Recitations: Fridays 6-9pm, room CECS 54

3. Intelligent Robotics = Robotics + Artificial Intelligence • Textbooks: • Luger and Stubbefield, Artificial Intelligence, Structures and Strategies for Complex Problem Solving, Addison Wesley, newest edition • Fred G. Martin, Robotic Explorations. A Hands-On Introduction to Engineering. Prentice-Hall, 2001. • Additional Textbooks: • Russell & Norvig, Artificial Intelligence. A Modern Approach, Prentice Hall • Wilensky, Common LISPcraftAnother very good LISP textbook: Winston & Horn, LISP (Addison-Wesley) • Joseph L. Jones, Bruce A. Seiger and Anita Flynn, Mobile Robots. Inspiration to Implementation. Second Edition, A.K. Peters

4. Other good textbooks and sources

5. The Physical World • The physical world is very demanding, it is: • inaccessible - sensors are imperfect, only stimuli that are near the agent can be perceived. • nondeterministic - a robot needs to deal with uncertainty • nonepisodic - effects of an action change over time • dynamic - robot needs to decide when to think and when to act immediately • continuous - states and actions are drawn from a continuum of physical configurations and motions

6. Robotics Research area in which AI agents are equipped with sensors to perceive the world and effectors to change it

7. Schedule & Grades • Grading scheme: • 50% Project • 25% Homeworks and programming assignments • 25% Exams • Programming assignments: • 4-5 assignments in LISP • Be sure to check the course web site for policy on turning in assignments late • Exams: • Exam 1 (10% of grade): LISP programming (around end of 1st week in February - it will be announced) - open book • Exam 2 (15% of grade): Mid-term - theory (open book)

8. Computer Accounts • To apply for account, for a registered PSU student: • cat@ee.pdx.edu • Lab rules & policies: • Posted on the wall in the Intelligent Robotics Lab

9. Course Details Three coursework requirements • Written assignments mathematical / algorithmic material (25%) • Lab Projects robot or simulator programming (50%) • Presentation on a robotic system/algorithm (25%) also organized by lab group deliverables: slides and the talk (demo) late in the semester

10. We start from basic problems in robotics Various types of robots, applications Lego System: Mindstorms Dacta Control Lab Dacta Robo Lab Other kits: OWI Robix Lynxmotion Other inexpensive robots: Halloween Items Home Depot Robots Hands-on Introduction to Robotics

11. Artificial Intelligence Programming for Intelligent Robotics Robot Kinematics Motors and Control - more next quarter Sensors - more next quarter Image Processing and Robot Vision Machine Learning and Pattern Recognition more next quarter Mobile Robots - walking robots Contents of this quarter

12. Background Dramatic changes in technology in recent years enable robotics education

13. My past robots • 1972 - light following, light avoiding • basic instinct, adaptive control, finite state machine • 1979 - industrial robot, first in Poland • voice control • 1982 - inexpensive robotic arm • no learning, software only • 1986 - 1988 - converted toys, image processing • 1989 - 1992 - PSUBOT • image processing, voice recognition, path planning, obstacle avoidance • 1990 - 1995 - robotic class at PSU, micro-mouse, no robot in a lab • Robotics was very expensive and painful, you had to do most of work from scratch!

14. What happened recently?? • Robot Arm: • 1985 = $ 2,300, • 1999 = $ 35 • Camera with a grabber: • 1985 = $ 2,400, • 1999 = $ 26 • Computer capable of doing real-time image processing: • 1985 = > $ 10,000 • 1999 = $ 600 • Computer on mobile robot • 1985 - very simple controller • 1999 - powerful complete laptop • Voice Recognition • 1985 - single words • 1999 - continuous spoken language

15. What are the definitions of a Robot?

16. Definition of a Robot • According to The Robot Institute of America (1979) : "A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." • According to the Webster dictionary: "An automatic device that performs functions normally ascribed to humans or a machine in the form of a human (Webster, 1993)."

17. Robot Definitions (cont) • Russell and Norvig:an active, artificial agent whose environment is the physical world. • Robots differ from Softbots whose environment consists of computer systems, databases and networks.

18. What is a robot? - more definitions • Fictional definition: any system with sensors, computer and effectors. • Robots must have a minimum of 4 degrees of freedom. • A degree of freedom is the number of independent movements an object can perform in a three dimensional space

19. One more definition

20. One more definition What is robotics? Robot a physical system that autonomously senses the environment and acts in it.

21. What is the origin of word ROBOT? The word robot originated from the Czech word Robota • Three laws of robot’s by Science fiction author Isaac Asimov. Czech word "robota” means "forced labor.”.

22. RUR • The word "Robot" comes from the play "R.U.R." (Rossum's Universal Robots) • R.U.R. was written in 1920 by the Czech writer Karel Capek (pronounced "chop'ek"). • Premiered in Prague early in 1921 • Performed in New York in 1922, and published in English translation in 1923. The play was a great success when it opened in the U.S.

23. R.U.R. • Robot derives from the Czeck word for "worker" • The brilliant scientist Rossum manufactures a line of robots designed to save mankind from work. • The plot turns sinister when robots are used in a war to kill humans. • After the robots are given emotions they no longer tolerate humans and eventually wipe them • out...neat thought eh?

24. This is a robot from the play "R.U.R." (image from the Robot Museum web site). • Karel Capek died just after the German invasion of Czechoslovakia in 1938, before the Gestapo (the German secret police) could get to him.

26. The role of Isaac Asimov • The word "robotics" also comes from science fiction - it first appeared in the short story "Runaround" (1942) by Isaac Asimov. • This story was later included in Asimov's famous book "I, Robot." • The robot stories of Isaac Asimov also introduced the idea of a "positronic brain" (used by the character "Data" in Star Trek) and the “three laws of robotics” • Later, he added the "zeroth" law.

27. Three Laws of Robotics: Highest order law • * Law Zero:A robot may not injure humanity, or, though inaction, allow humanity to come to harm. • * Law One:A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. • * Law Two:A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. • * Law Three:A robot must protect its own existence as long as such protection does not conflict with a higher order law.

28. Robotics is a Synthetic field • Mechanical Eng. • Electrical Eng. • Control • CS & AI • Vision, HCI • Software Dev. • Biology • Neuroscience • Cognitive Science Robotics

29. Robotics is a Synthetic field • Mechanical Eng. • Electrical Eng. • Control • CS & AI • Vision, HCI • Software Dev. • Biology • Neuroscience • Cognitive Science Robotics • Architecture • Mapping • Sensing and Motion • Cooperative Robotics • Visual Control • Entertainment • Planning / Modeling • Robot Learning

30. Typical Projects • Low-level control • motors • purely reactive control • behavioral control • Sensing and Modeling • sensors • kinematics • workspace modeling • Spatial reasoning • decomposing space • path planning with • and w/o full knowledge • Handling uncertainty • building maps • localization • sensor fusion & filtering • Vision • tracking • visual servoing

31. Kamikaze Robot

32. The Buggy Butler

33. “Wallflower”

34. “The Extinguisher”

35. The Manipulator E

36. “Pioneer”

37. Big Brother • Vision • tracking • visual servoing

38. 1. Think about your project for this class 2. Define a robot in your own words. Compare your definition. 3. How to program Asimov’s Laws? 4. Can we build a group of robots to perform Capek’s play in Portland Cyber Theatre? Why not, why yes? Think what robots they should be. 5. Visit the Intelligent Robotics Lab and familiarize yourself with our robots Problems for you to think about

39. Sources • Padhraic Smyth • Dodd, Harvey Mudd College • Kiriakos Kutulakos, University of Rochester • Rojas FUB MI • Behnke • Brian Glassman, Mechanical Engineering at Florida Institute of Technology • John Gallagher, SUNY Institute of Technology