* Your assessment is very important for improving the workof artificial intelligence, which forms the content of this project
Download Week 5
Survey
Document related concepts
Neuroplasticity wikipedia , lookup
Haemodynamic response wikipedia , lookup
NMDA receptor wikipedia , lookup
Selfish brain theory wikipedia , lookup
Aging brain wikipedia , lookup
Neuromuscular junction wikipedia , lookup
Neuroscience in space wikipedia , lookup
Brain Rules wikipedia , lookup
Embodied cognitive science wikipedia , lookup
Signal transduction wikipedia , lookup
Sensory substitution wikipedia , lookup
Microneurography wikipedia , lookup
Endocannabinoid system wikipedia , lookup
Neuropsychopharmacology wikipedia , lookup
Molecular neuroscience wikipedia , lookup
Clinical neurochemistry wikipedia , lookup
Transcript
R2 R2 R2 GSCI 101 Two resistors in series Two resistors in parallel Two resistors in with meters. Two resistors in series with meters Monday reviewed some ideas about energy: KE, PE, Work Discussed some general aspects of science [continuity and abstract concepts] Wednesday One HW problems then practical circuits and wiring One of the most basic circuits, a power supply, resistor and LED connected by wires. PS power supply è ideal constant voltage supplied wireè connections but unlimited current with no voltage drop Resistorè Ohm’s law V=IR voltage pushes current through Currentè FLOW charges move R1 LEDè directional with a fixed voltage requirement [turn on voltage] GNDè reference point in the circuit chosen to have a value of 0V. R1 R1 R2 Power supply or a 5V connection with a GNDR2 connection. On Arduino we can simple find pins labeled 5V and GND and use these. Two resistors in parallel Two resistors in series Discussed paths, connections and proper orientation. Many students have trouble building circuits. Not clear why at the beginning it may be hard but it is essential to learn how to build a circuit from a diagram. Robots So far we have discussed, motion, forces and energy. An understanding of these concepts is critical for robotics. As discussed real robot builders need an advanced understanding of these ideas when designing robots from the ground up. Robot 1. brain == microprocessor, computer a. algorithms: to describe the processes b. I/O: To sense environment and control motors and instruments R2 Two resistors in with meters Other important areas for robotics are: • digital electronics .i.e electronic logic • analog signal processing • binary systems • programming language • feedback • pid sensors (excerpted from PDF link on website, Howie Choset & Steve Stancliff) Human Sensing Sense: sight, hearing, taste, touch, smell Vision Audition Gustation Olfaction Tactition EM waves Pressure waves Chemicals -flavor Chemicals -odor Contact pressure Othere senses heat, pain, balance, awareness? animals Magnetoception (birds) Electroception (sharks, etc.) Electroception (sharks, etc.) Echolocation (bats, etc.) Pressure gradient (fish) Transduction • What do all of these sensors have in common? • They all transduce the measurand into some electrical property (voltage, current, resistance, capacitance, inductance, etc.) Motivationè control and environment knowledge Lets imagine that we want to move a robot what is the most straightforward approach? Wheels and a motor. What does the motor do? Rotates at some speed that turns the wheel. How do we regulate the speed? Gears & power to the motor. [car you can shift and you can press on the gas] Hydraulic systems have same facility. Change force Here is where the mechanics that we considered would be applied. Just like in the problem with the pulleys [block and tackle] you can get different forces but not an overall increase in the energy. Also the power or energy delivered per unit time will be important. Source è How much energy does it contain and how fast can it deliver it. Most robots use electric motors and many sensors are electric. Sensor to detect an obstacle è switch [try to be simple. If you don’t understand whether a sensor is simple or complicated it shows that you need a clearer understanding! Is it simple because you know where to get the stuff. Simple because you have seen it work somewhere. Simple because the implementations requires only basic concepts and components] switch è basic camera è complex but available and software is available but how do you detect distance with a camera.? ultrasonic ranger è available but complex in principle but the complexity may be removed if you find the correct sensor that does all the work. A sensor (also called detector) is a device that measures a physical quantity and converts it into a signal which can be read by an observer or by an instrument typical temperature Position via on/off switch Range - ultrasonic motion gps gyroscopes Voltage, power force pressure vision color IR conductance acoustic magnetic Beacons/sensing there not there How far, speed, acceleration Multiple methods Location, speed, altitude grade orientation Monitor robots energy and delivery Hydraulic systems Multi faceted (facial rec., location, threat [cliff], object id) Imaging or point Distinguish metal nonmetal Volume, distinct sounds, voice recognition, commands Earths field as a reference Send out a signal that is used for navigation or other other radiation chemical weather flow electric Humidity, wind, cloud cover (radar) fluids Capacitance, resistance, inductance, …. Human beings have a multitude of senses. In addition to the traditionally recognized five senses of 1. sight (ophthalmoception), 2. hearing (audioception), 3. taste (gustaoception), 4. smell (olfacoception or olfacception), and 5. touch (tactioception), other senses include 1. temperature (thermoception), 2. kinesthetic sense (proprioception), 3. pain (nociception), 4. balance (equilibrioception) and 5. acceleration (kinesthesioception). What constitutes a sense is a matter of some debate, leading to difficulties in defining what exactly a sense is. Sight Sound Taste Humans receive tastes through sensory organs called taste buds, or gustatory calyculi, concentrated on the upper surface of the tongue. The sensation of taste can be categorized into five basic tastes: sweetness, bitterness, sourness, saltiness, and umami. The recognition and awareness of umami is a relatively recent development in Western cuisine.[3] MSG produces a strong umami taste.[4] [edit] Smell Smell or olfaction is the other "chemical" sense. Unlike taste, there are hundreds of olfactory receptors (388 according to one source[4]), each binding to a particular molecular feature. Odor molecules possess a variety of features and, thus, excite specific receptors more or less strongly. This combination of excitatory signals from different receptors makes up what we perceive as the molecule's smell. In the brain, olfaction is processed by the olfactory system. Olfactory receptor neurons in the nose differ from most other neurons in that they die and regenerate on a regular basis. The inability to smell is called anosmia. Some neurons in the nose are specialized to detect pheromones.[citation needed] [edit] Touch Touch, also called tactition or mechanoreception, is a perception resulting from activation of neural receptors, generally in the skin including hair follicles, but also in the tongue, throat, and mucosa. A variety of pressure receptors respond to variations in pressure (firm, brushing, sustained, etc.). The touch sense of itching caused by insect bites or allergies involves special itch-specific neurons in the skin and spinal cord.[5] The loss or impairment of the ability to feel anything touched is called tactile anesthesia. Paresthesia is a sensation of tingling, pricking, or numbness of the skin that may result from nerve damage and may be permanent or temporary. [edit] Balance and acceleration Main article: Vestibular system Balance, equilibrioception, or vestibular sense is the sense that allows an organism to sense body movement, direction, and acceleration, and to attain and maintain postural equilibrium and balance. The organ of equilibrioception is the vestibular labyrinthine system found in both of the inner ears. In technical terms, this organ is responsible for two senses of angular momentum acceleration and linear acceleration (which also senses gravity), but they are known together as equilibrioception. The vestibular nerve conducts information from sensory receptors in three ampulla that sense motion of fluid in three semicircular canals caused by three-dimensional rotation of the head. The vestibular nerve also conducts information from the utricle and the saccule, which contain hair-like sensory receptors that bend under the weight of otoliths (which are small crystals of calcium carbonate) that provide the inertia needed to detect head rotation, linear acceleration, and the direction of gravitational force. [edit] Temperature Thermoception is the sense of heat and the absence of heat (cold) by the skin and including internal skin passages, or, rather, the heat flux (the rate of heat flow) in these areas. There are specialized receptors for cold (declining temperature) and to heat. The cold receptors play an important part in the dog's sense of smell, telling wind direction. The heat receptors are sensitive to infrared radiation and can occur in specialized organs for instance in pit vipers. The thermoceptors in the skin are quite different from the homeostatic thermoceptors in the brain (hypothalamus), which provide feedback on internal body temperature. Mammals have at least two types of sensor: those that detect heat (i.e. temperatures above body temperature) and those that detect cold (i.e. temperatures below body temperature).[ [edit] Kinesthetic sense Proprioception, the kinesthetic sense, provides the parietal cortex of the brain with information on the relative positions of the parts of the body. Neurologists test this sense by telling patients to close their eyes and touch their own nose with the tip of a finger. Assuming proper proprioceptive function, at no time will the person lose awareness of where the hand actually is, even though it is not being detected by any of the other senses. Proprioception and touch are related in subtle ways, and their impairment results in surprising and deep deficits in perception and action.[6] [edit] Pain Nociception (physiological pain) signals nerve-damage or damage to tissue. The three types of pain receptors are cutaneous (skin), somatic (joints and bones), and visceral (body organs). It was previously believed that pain was simply the overloading of pressure receptors, but research in the first half of the 20th century indicated that pain is a distinct phenomenon that intertwines with all of the other senses, including touch. Pain was once considered an entirely subjective experience, but recent studies show that pain is registered in the anterior cingulate gyrus of the brain.[7] The main function of pain is to warn us about dangers. For example, humans avoid touching a sharp needle or hot object or extending an arm beyond a safe limit because it hurts, and thus is dangerous. Without pain, people could do many dangerous things without realizing it. An internal sense or interoception is "any sense that is normally stimulated from within the body".[8] These involve numerous sensory receptors in internal organs, such as stretch receptors that are neurologically linked to the brain. Pulmonary stretch receptors are found in the lungs and control the respiratory rate. The chemoreceptor trigger zone is an area of the medulla in the brain that receives inputs from blood-borne drugs or hormones, and communicates with the vomiting center. Cutaneous receptors in the skin not only respond to touch, pressure, and temperature, but also respond to vasodilation in the skin such as blushing. Stretch receptors in the gastrointestinal tract sense gas distension that may result in colic pain. Stimulation of sensory receptors in the esophagus result in sensations felt in the throat when swallowing, vomiting, or during acid reflux. Sensory receptors in pharynx mucosa, similar to touch receptors in the skin, sense foreign objects such as food that may result in a gag reflex and corresponding gagging sensation. Stimulation of sensory receptors in the urinary bladder and rectum may result in sensations of fullness. Stimulation of stretch sensors that sense dilation of various blood vessels may result in pain, for example headache caused by vasodilation of brain arteries.