Download Robotics: Integrated Systems Design Mechanics, Electronics

Mobiles Robotics:
Integrated Systems Design
Where are the Robots?
• Exploration
Where are the Robots?
• Industrial Robots
Where are the Robots?
• Medicine
Where are the Robots?
• Service Robots
Where are the Robots?
• Consumer Robots
Where are the Robots?
• Cultural Robots
Spectrum of Self-Control
Teleoperation: Human Control
Autonomous (AI) Control
Shared Human – Robot Control
What is a Robot?
• An autonomous system which exists in
the physical world, can sense its
environment, and can act on it to
achieve some goals.
Living Autonomously
• An autonomous robot acts on its own
decisions
• Robots are not directly controlled by
humans
– Can take input and advice from humans
• Robots are not teleoperated
– Making them much more difficult and
interesting than Battlebots
Autonomous Mobile Robots have to Solve
Difficult Problems
• Where am I?
– Localization Problem
• How do I get there?
– Path Finding Problem
• How do I find the door?
– Object Recognition Problem
• What are you asking me to do?
– Language Understanding Problem
• How can I tell you the answer to your question?
– Speech Generation Problem
Existing in the Physical World
• Inaccessible
– near by stimuli, limited attention, imperfect
sensors
• Non-deterministic
– Complex set of laws (many unknown)
• Dynamic
– Changes happening as decisions are made
• Continuous
– The worlds is not a set of discrete events
Sensing the Environment
• Sensors allow the robot to perceive its
environment to get information that
allows it to make decisions
– Humans have 6 senses what are they?
– What sensors does a robot need?
Movie Clip
Acting on the Environment
• Robots have effectors that allow it to
change the state of the world
– What are human effectors?
– What effectors can robots have?
Movie Clip
Movie Clip
Achieving a Goal
• Achieving a goal requires intelligent
decision making
– Artificial Intelligence
Movie
What is a Robot Control Architecture?
how much of the world do we need to represent internally ?
Robot Architecture
how should we internalize the world ?
what inputs do we have ?
what outputs can we effect ?
what algorithms connect the two ?
how do we use this “internal world” effectively ?
Spectrum of Robot Control
Architectures
Robots are complex systems
So, what makes a complex system
complex?
Interactions Between Sub-systems
• Complex systems consist
of multiple sub-systems,
each one has the
potential of interacting
with every other one.
Complexity comes from
Multidisciplinary Systems
• Complex systems can be an integration of mechanical,
electrical, chemical, and computational sub-systems.
• Like vacuum cleaners, washers, cars, hard drives, space
shuttles, …
and robots.
Why study Robotics?
• Well, robots are way coooool!
• Other areas that deal with
complex systems share the same
principles involved in designing
and implementing robots
Why Study Robotics?
• Real-time Systems
Why Study Robotics?
• Multitasking
Why Study Robotics?
• Integrated Systems
Engineering
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Mechanical Engineering
Electrical Engineering
Computer Science
Chemical Engineering
Biological
Continental's electronic stability system analyzes data from many
sensors. When the sensors indicate a driver is losing control, the system
steadies the vehicle by braking one or more wheels or by slowing down
the engine.
The Top 10 Reasons for Taking This Course
10: I want to play with LEGO’s for a grade!
9: All the other electives are lame.
8: Class is taught by the best teachers in the School of
Engineering.
7: The Transformers movie ruled, dude!
6. Cuz this is going to be the best prom ever!
The Top 10 Reasons for Taking This Course
5: So I can invent a robot that looks like me
and I’ll never have to go to another class.
4: I can put on my resume: “Robot Builder”.
3: Lots of cool pics, demos, & videos.
2: I want to take over the world!
1: Robots are way cooooool!
Peace out …
A Multidisciplinary Robotics Course
• Co-taught course:
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Dr. Engel, Electrical & Computer Engineering (on sabbatical)
Dr.Krauss, Mechanical Engineering
Dr. Karacal, Industrial & Manufacturing Engineering
Dr. Weinberg, Computer Science
Course Objectives
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3.
4.
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To provide a hands-on experience to practical robotics.
To learn about integrated system design.
To study the mechanical mechanisms necessary for
robot movement and actions.
To study the electrical mechanisms of sensors.
To study the computational mechanisms necessary for
sensory perception.
To study the computational mechanisms of
autonomous robotics.
Readings
• Textbook:
– Robotic Exploration by Fred Martin
– Introduction to AI Robotics by R. Murphy
– Additional reading will be assigned.
Designing, Building & Programming
• Each class member will participate on a team of 3 or 4
students.
• Teams will work on a variety of lab assignments that
include designing & building mechanisms, circuits, and
robots
• Robot will be built using the XBC, IC, and Legos
(www.charmedlabs.com/ , www.botball.org).
Final Project
• Teams will design and build a robot to complete in a
Urban Search and Rescue Challenge
• Builds upon lab assignments
Grading
Assignments
Quizzes
Final Exam
Final Project
25%
25%
20%
30%
Next Class
• Wednesday
– Teamwork
– Form Teams
– Check-out robot kits
• Reading
– Murphy, Ch. 1
– Teamwork Handouts