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

Shared Human – Robot Control

Autonomous (AI) 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

how much of the world do we need to represent internally ?

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 ?

What is a Robot Control Architecture?

Robot Architecture

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– 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:

– Dr. Engel, Electrical & Computer Engineering (on sabbatical)– Dr.Krauss, Mechanical Engineering– Dr. Karacal, Industrial & Manufacturing Engineering– Dr. Weinberg, Computer Science

Course Objectives1. To provide a hands-on experience to practical robotics.2. To learn about integrated system design.3. To study the mechanical mechanisms necessary for

robot movement and actions. 4. To study the electrical mechanisms of sensors. 5. To study the computational mechanisms necessary for

sensory perception.6. 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 25%Quizzes 25%Final Exam 20%Final Project 30%

Next Class• Wednesday

– Teamwork– Form Teams– Check-out robot kits

• Reading– Murphy, Ch. 1– Teamwork Handouts