Robotic SEMINAR

8/7/2019 Robotic SEMINAR

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ROBOTICS

BY

VIJAYA

MCA IV SEM

NO-37


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CONTENTS

1. INTRODUCTION

2. RELATED TECHNOLOGIES

3. TECHNOLOGY AT HOME

4. DESIGN PROCESS

5. POSSIBLE DANGERS

6. OUR ROBOTS

7. CONCLUSION

8. REFERENCES


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ROBOTICS

1. INTRODUCTION

1.1 But what exactly is a robot?

As strange as it might seem, there really is no standard definition for a robot. However,

there are some essential characteristics that a robot must have and this might help you to decide

what is and what not a robot is. It will also help you to decide what features you will need to

build into a machine before it can count as a robot.

A robot has these essential characteristics:

Sensing First of all robot would have to be able to sense its surroundings. It would do this

in ways that are similar to the way that you sense your surroundings. Giving your robot

sensors: light sensors (eyes), touch and pressure sensors (hands), chemical sensors (nose),

hearing and sonar sensors (ears), and taste sensors (tongue) will give your robot

awareness of its environment.

Movement A robot needs to be able to move around its environment. Whether rolling on

wheels, walking on legs or propelling by thrusters a robot needs to be able to move. To

count as a robot either the whole robot moves, like the Sojourner or just parts of the robotmoves, like the Canada Arm.

Energy A robot needs to be able to power itself. A robot might be solar powered,

electrically powered, battery powered. The way your robot gets its energy will depend on

what your robot needs to do.

Intelligence A robot needs some kind of "smarts." This is where programming enters the

pictures. A programmer is the person who gives the robot its 'smarts.' The robot will have

to have some way to receive the program so that it knows what it is to do.

1.2 So what is a robot?

Well it is a system that contains sensors, control systems, manipulators, power supplies

and software all working together to perform a task. Designing, building, programming and
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testing robots is a combination of physics, mechanical engineering, electrical engineering,

structural engineering, mathematics and computing. In some cases biology, medicine, chemistry

might also be involved. A study of robotics means that students are actively engaged with all of

these disciplines in a deeply problem-posing problem-solving environment.

Robots have the potential to change our economy, our health, our standard of living, our

knowledge and the world in which we live. As the technology progresses, we are finding new

ways to use robots. Each new use brings new hope and possibilities, but also potential dangers

and risks.

Robotics is the field of knowledge and techniques that permit the construction of robots.

Designed to carry out various tasks in place of humans for example, on a factory assembly line,

or on a mission to Mars or other dangerous place robots are more than simple computers: they

must be able to sense and react to changes in their environment.

2. RELATED TECHNOLOGIES


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It was the Czech novelist, Capek, who in 1920 coined the term robot to designate artificial

beings that can replace man in the workplace. Today, we have many different conceptions of

robots: utilitarian robots for work in extreme environments (like Eve, the robot explorer ofMars), companion robots (like PaPeRo from Nec), and others. Robotics touches a number of

research domains; these include artificial life, which attempts to make robots more autonomous

and capable of evolving without human intervention (like Aibo, Sonys robot dog), collective

intelligence that would empower robots to act in cooperation (as in 1998 when there was a

football World Cupplayed by robots!), and nanotechnology , which envisions, among other

uses, micro-robots that can work inside the human body.

2.1 ARTIFICIAL LIFE

Area of research that studies the processes of life (how life is created, becomes extinct,

evolves, reproduces, etc.) and simulates them in computers to better understand them. Artificial

life touches as much on computer science as biology.

What is life? Vast question that computer scientists have taken their turn trying to answer

by grabbing onto two key concepts: 1) life reproduces itself, and 2) life evolves. In the 1970s, an

artificial life computer program traveled around the world: the game of life. In it, cells

(actually, black dots on the computer screen) appear, move, and die according to a set of simple

rules. From an initial population distributed on the screen at random, stable structures emerge,

some moving, some immobile, that resemble, in circumstance, what might have been the first

living organisms. Today, artificial life calls on increasingly complex ideas, such as emergence,

and touches more and more the fields of robotics and bionics.

2.2 BIONICS:

Emulation of structures and functions of living beings by materials, machines or robots.

A contraction of the words, biology and electronics, bionics is the science of how the living

emit, receive, and treat various signals so that life processes can be mimicked in machines and

robots. For example, sonar illustrates a technology based on the navigation system of the bat. In
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general, bionic refers to the imitation of the living (for example, Velcro imitates the burdock

fruit).

Today we often hear talk of the bionic man or woman, a person blended, not only

containing familiar biological parts, but also mechanical or electronic elements that science and

technology put in place to repair damaged function or to propel humans beyond their physical

and mental limits: electronic implants, prostheses made of biomaterials, computers controlled by

the eye - and, soon, by thought - virtual reality technology, and so forth. Until now, a caricature

found only in science fiction, the bionic human, at one with her or his mix of flesh, blood, and

machine, is little by little becoming a reality.

2.3 BIOMATERIALS

Materials compatible with an organism that can be used to make implants, prostheses,

and surgical instruments. Biomaterials are materials used to manufacture prostheses, implants,

and surgical instruments. Designed not to provoke rejection by our bodies (skin, blood, bone,

etc.), they can be natural (collagen, cellulose, etc.) or synthetic (metallic, alloy, ceramic, plastic,

and others). Dental crowns and contact lenses use biomaterials.

The word "robot" originates from the Czech word for forced labor, or serf. It was

introduced by playwright Karel Capek, whose fictional robotic inventions were much like Dr.

Frankenstein's monster -- creatures created by chemical and biological, rather than mechanical,

methods. But the current mechanical robots of popular culture are not much different from these

fictional biological creations. Basically a robot consists of:

A mechanical device, such as a wheeled platform, arm, or other construction, capable of

interacting with its environment

Sensors on or around the device that are able to sense the environment and give useful

feedback to the device

Systems that process sensory input in the context of the device's current situation and

instruct the device to perform actions in response to the situation

Robot, defined


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"A re-programmable, multifunctional manipulator designed to move material, parts,

tools, or specialized devices through various programmed motions for the performance of

a variety of tasks."

From the Robot Institute of America, 1979.

.

Most of Artificial Intelligence will eventually lead to robotics. Most neural networking,

natural language processing, image recognition, speech recognition/synthesis research aims at

eventually incorporating their technology into the epitome of robotics - the creation of a fully

humanoid robot.

The field of robotics has been around nearly as long as Artificial Intelligence - but the

field has made little progress. This is only natural, since the field not only attempts to conquer

intelligence, but also the body that embodies it - a formidable task indeed! Robotics, though, is

not just about humanoid robots; but also about their commercial applications in manufacturing,

safety and hundreds of other fields. Let us back-track though, and look at what could constitute a

robot?

According to the Oxford Dictionary, a robot is an "apparently human automaton,

intelligent and obedient but impersonal machine". Indeed, the word robot comes from robot,

Czech for 'forced labor'. Yet, as robotics advances this definition is rapidly becoming old.

Basically, a robot is a machine designed to do a human job (excluding research robots) that is

tedious, slow or hazardous. It is only relatively recently that robots have started to employ a

degree of Artificial Intelligence in their work - many robots required human operators, or precise

guidance throughout their missions. Slowly, robots are becoming more and more autonomous.

The difference between robots and machinery is the presence of autonomy, flexibility and

precision. Indeed, many few robots are mere extensions of machinery - but as the field advances

more and more, the current 'fine line' will widen more and more.

3. TECHNOLOGY AT HOME


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Robotics is slowly making its way into the home - either through leisure, or actual

commercial home-based bots. Recently, Probotics released the world's first true personal robot -

Cye. Cye allows its human operator to create a map of the environment (using a Windows

interface) and download it via an IR link to the robot. The robot will then be able to navigate the

area doing various tasks - including vacuuming! Consumer robots, though, have not yet made a

big impact. So-called leisure-robots are.

3.3 SONY ERS-111 AIBO ENTERTAINMENT ROBOT

We got a Sony AIBO. For those who have lived in secluded caves for the last 2 years, the

Sony AIBO is the world's first commercial entertainment robot. In the shape of a robotic

dog, the AIBO has 4 distinct growth phases, and each one will develop a personality of its own

(through its on-board memory stick). When they were released (originally as the ERS-110) they

were sold within days. Sony then announced they would manufacturer 10,000 of a slightly

upgraded version (the ERS-111) - these were sold within 20 minutes of the phone lines opening.

Why so quickly? Are they cheap? Hell no. Generation5 forked out $3,400 for ours, although the

original retail value was $2,500. So why then? These things are incredible - a 150,000 pixel CCD

camera, stereo microphone, IR distance sensor, 18 motors and a cute look, AIBO is currently the

epitome of commericial Artificial Intelligence.

3.1 FEATURES

The AIBO has four main stages of development:

1. NEWBORN

2. PUPPY

3. CHILD

4. ADULT.

The stages progress according to the amount of "quality time" you spend with your dog.

For your dog to reach mature adult age, you are going to have to spend over 100 hours with him!

This makes AIBO more of a pet than a toy.


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To make the robot more pet-like, each AIBO has a personality of its own. You can reinforce and

scold the dog according to its actions, and help it develop its own personality. If you want a lazy

dog, hit is every time it tries to play - and slowly it will learn not to play. If you want your dog to

stay away from something (like my guitars!), hit it when it wanders near them. On the bright side

(no more hitting the dog, I promise), if you want the dog to like the pink ball its supplied with,

stroke it and pat it when it starts to play with it.

AIBO's actions are potentially unlimited (if you have the Performer Kit), but even

without the performer kit, AIBO comes with a huge array of actions. Most of them you won't see

while the dog is in newborn or baby phase. All the dog really does is sit around and move its

head and back legs around. Slowly, it'll start to sit up more, then take a few attempts at standing

up. It will progress from there, and learn more and more actions. It will communicate with you tohelp you understand what it is feeling - for example, it will wave its paw and shake its head if it

doesn't like what you're doing.

AIBO also has two sets of "eyes" - a green pair and a red pair. The green will light up

when the AIBO is happy, and the red when it is angry. They both light up if the AIBO gets

surprised. With the combination of the body language, vocal noises and eye signals, the AIBO

gives you a great sense of how it feels.

Of the neatest things about AIBO is the tracking algorithm. The AIBO can look at the

object and track it - much like MIT's Cog can. The AIBO has successfully tracked the pink ball,

hand, a box, spoon and a few other objects. When the AIBO is a puppy, it really enjoys messing

around by tracking things (much like human babies).


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3.2 MODES

The AIBO has three different modes: autonomous, performance and game mode.

Autonomous is the mode you'll normally have it in - the dog will grow and learn and generally

be a pet. Performance mode is a neat little feature that allows you to ask the AIBO to do little

preset performances. These are just playful sets of actions that can show off the AIBO. Check

out some of the screen shots below to see:

The game mode allows you to control the movement of the AIBO specifically using the

remote control (on a side point, this remote control uses musical note sequences to control the

AIBO). You can make the dog move forward, back, left, right, kick the ball with either of its

front legs, and do a winning performance, losing performance and toggle ball tracking.

Mentioned before, the ball tracking is really neat - the dog wills saccade to the ball quite nicely,

even while it (either the AIBO or the ball) is moving.

3.3 CONCLUSION

There is little to fault the AIBO with - the emotions are rather undefined while the dog is

a puppy, but this probably applies in real life too, so its not really a fault! The battery life is quite

short, only about 1.5 hours on autonomous mode - mind you, if you find yourself playing with

the AIBO for more than 1.5 hours at a time. AIBO came with two batteries, and the charging

station can charge two batteries simultaneously - one in the AIBO itself, and another in the 'Sub'

slot below. This means that you'll always have a fully recharged battery to shove into the AIBO

if you need some extra juice.


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The AIBO is nicely made, and while it is probably not the most robust of things it will

withstand small knocks and falls (it can even right itself if it falls on its side!). As the dog grows,

you learn the personality and help shape its personality. This really gives a friendly appeal to

Artificial Intelligence and robotics, something the field could use with the increasing anti-

publicity it is getting.

In short, if you have the money to buy an AIBO and can get your hands on one (eBay is

always a good place to check) - buy it! The AIBO will give your hundreds of hours of fun

(indeed you'll need over a hundred to get the maximum from it!), and is currently the best

example of commercial Artificial Intelligence available.

4. DESIGN PROCESS

Defining

the

Problem

Researching

and Designing

Creating a

Prototype

Building

your

Robot

Programming and

Testing your

Robot

Evaluating

your Robot

identifying the purpose of a construction

identifying specific requirements

You are confronted with a situation. Here are two examples:

A community wants to construct a robot zoo in which the "animals" move their heads open their

mouths and make appropriate sounds when they sense that someone is coming towards them.

Design and build a prototype device which could satisfy this need.

A local pet shop wishes to sell a range of devices which automatically feed small cage pets (such

as rabbits, gerbils, mice etc.) when their owners are away for the weekend. Design and build a

prototype device which could satisfy this need.

You need to determine what problem you are trying to solve before you attempt to design and

build a robot to solve a problem. Take the time to study a number of different situations and once

you have decided what the situation is and you understand exactly what the problem is then write

a design brief in a log book (this will be your working document as you work on your robot. This
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log book can be a paper notebook or an electronic document.) This is a short statement which

explains the problem that is to be solved.

4.2 RESEARCHING AND DESIGNING

gathering information

identifying specific details of the design which must be satisfied

identifying possible and alternative design solutions

planning and designing a appropriate structure which includes drawings

Having written a brief, you are now ready to gather information which will help you to

produce a successful design. First you will need to decide what information you require. This

will be different from project to project and will also depend on the amount of information and

knowledge you already have. A useful step will be to use the following chart. Ask the five

questions, and then read the column headed Gathering Information. This will help you plan the

type of information you will need to gather.

1. What is the practical function of the design? (What must my robot do?)

A design's practical functions can include:

MOVEMENT How will the robot move within its environment? If it were put in a different

environment, would it still be able to move within this new space?

MANIPULATION How will the robot move or manipulate other objects within its

environment? Can a single robot move or manipulate more than one kind of object?

ENERGY How is the robot powered? Can it have more than one energy source?

INTELLIGENCE How does the robot "think?" What does it mean to say that a robot

"thinks?"

SENSING How will my robot "know" or figure out what's in its environment? If it were put

in a different environment, would it be able to figure out this new environment

2. What part does appearance (shape and form, surface texture, color, etc.) play in the

design's function? What does the robot look like? Is there a reason for it to look as it does?


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Shape and form are important to a design's aesthetic qualities, ergonomics, strength, stability,

rigidity, safety

Surface texture, finish and color can be appropriate to a designs: aesthetic qualities, mechanical,

optical and thermal properties, durability, etc.

3. What materials are suitable for the design?

The properties of a material will determine its suitability for a design. For our work with

robotics we have chosen to work with LegoT. However, there are many different types of

materials that can be and are used in the construction of robots.

strength, hardness, toughness, density

durability

and the aesthetic qualities determined by color, surface texture, pattern, etc.

The materials cost and availability is also important factors.

What construction methods are appropriate to the design?

Construction techniques fall into the categories of:

cutting and shaping

fabrication - the assembly of the parts using screws, bolts, glues, solder, etc

molding - by the application of a force on the material

casting - using a mould to form the shape of a solidifying material

A particular material can only be worked in a limited number of ways. The method of

construction therefore will be determined by the chosen material, the availability of

manufacturing facilities, the skills of the work force and the production costs.

5. What are the likely social and environmental effects of the design?

The manufacture, use and disposal of any product will have both beneficial and

detrimental effects upon people, wildlife and the environment. The designer therefore, has an


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enormous responsibility to consider very carefully the potential effects of any new design. This

will include: health and safety factors, noise, smell, pollution, etc.

Gathering information can involve reading, listening, conducting interviews and

observing. A specification is a detailed description of the problem to be solved. It should 'spell

out' exactly what the design must achieve

4.3 CREATING A PROTOTYPE

testing the design

troubleshooting the design

You should ideally think of at least three different ways to solve the problem before you

concentrate on any one in particular. Sketches and notes are required at this stage. You can also

create prototypes using Lego for this step. Once you have created a Lego prototype, take a digital

picture of it. Print out the picture and jot your notes below the picture in your log book. Once

you have settled on one solution, go back over the list of specifications you have made. Make

sure that each specification is satisfied.

Now it the time to produce some working drawings. These are the drawings that will

assist you as you begin constructing the prototype of your structure. (Here again, lego and a

digital camera might be your best friend.) You may choose to do your drawings by hand or you

might want to use a draw program on the computer to assist you.

Determine a working schedule for yourself. Draw up a timetable showing how much time

you expect to spend on each part of the design process. Your planning should also ensure that

you have all the necessary materials and equipment that you need to complete your project.

4.4 PROGRAMMING AND TESTING YOUR ROBOT

Now it is time to program your robot. This can be achieved in many different ways. Use

can achieve rudimentary intelligence in your robot by using only relays, potentiometers, bump

switches and some discrete components. You can increase complexity in intelligence in your

robot by adding more sensors and continuing in the same vein of using hardwired logic. By

introducing a more sophisticated control element, the microprocessor, you introduce a significant


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new tool in solving the robot control problem. For our robots we used the RCX Brick that was

first developed by Fred Martin at MIT as the Programmable Brick. See the following two

programming examples: Mindstorms

Robolab has two levels for programming. Once you have written your program and

downloaded into the RCX brick using the Infrared Sender, it is time to test your robot to see

if it truly does what you want it to do.

4.5EVALUA

TI NG YOUR

ROBOT

evalu

ate

the

design

evaluate the planning process


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As building and programming work progresses, and the design begins to take shape, you will

automatically carry out tests on the design. You will also need to complete systems tests at

various stages of the construction. If any of the tests show that you have failure in a joint, or that

part of your structure is not meeting specifications, then you will have to make modifications in

your plan.

When building and programming is complete, the entire project must be tested to see if it

does the job for which it was designed. An evaluation needs to then be written. This should be a

statement outlining the strengths and weaknesses in your design. It should describe where you

have succeeded and where you have failed to achieve the aims set out in the specifications.

Here is a list of questions which will help you to prepare this statement.

How well does the design function?

Does the design look good?

Is the product safe to use?

Did I plan my work adequately?

Did I find the construction straightforward or difficult?

Were the most suitable materials used?

Did it cost more or less than expected?

How could I have improved my design?

We have classified our robots alphabetically according to the name that the students have

given their robot. Robots are often classified according to their generation, level of intelligence,

level of control and level of programming language.

5 POSSIBLE DANGERS:

The concern that robots might displace or compete with humans is common. In his I,

Robot series, Isaac Asimov created the Three Laws of Robotics in a literary attempt to

control the competition of robots with humans:


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1. A robot may not harm a human being, or, through inaction, allow a human being to come

to harm.

2. A robot must obey the orders given to it by the human beings, except where such orders

would conflict with the First Law.

3. A robot must protect its own existence, as long as such protection does not conflict with

the First or Second Law.

Unfortunately the issue may be not so simple to resolve. Asimov himself based the plots

of quite a few robots novels on probing into the applicability and sufficiency of the Three

Laws. The laws or rules that could or must apply to robots or other "autonomous capital"

in cooperation or competition with humans have spurred investigation of macro-economics

of this competition, notably by Alessandro Acquits building on much older work by John

von Neumann.

Even without overt malicious programming, robots and humans simply do not have the

same body tolerances or aware nesses, leading to accidents: In Jackson, Michigan on July

21, 1984, a factory robot crushed a worker against a safety bar in apparently the first robot-

related death in the United States.

6 OUR ROBOTS 6.1 CAR

We built a car with two different sensors, a touch sensor and a light sensor. The light sensor

would work at the front of the car and the touch sensor at the back of the car. When the car

approaches an object and gets too close, it will turn to avoid the object. When the car backs into

an object it will stop and move forward. Dr. Friesen added an additional challenge to us. We

needed to create our robot using only one motor so that we would learn how to use gears and

pulleys to transfer energy

We wanted to build a car with two different sensors, a touch sensor and a light sensor. The

light sensor would work at the front of the car and the touch sensor at the back of the car.


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We started to put our car to the test. We ran into a number of problems because we couldn't get

the light sensor to work properly for us. Some of the members of our group thought that

our car needed to play a tune as it went along. This didn't solve our problem, but it did

make our car's journey much more interesting

6.2 GIRAFFE ROBOT

Animal robots are fun to make. They help you to understand how an animal moves. It

was a real challenge to make the head of our giraffe goes up and down while it was moving

forwards and backwards. Dr. Friesen added

an additional challenge to us. We needed to

create our robot using only one motor so that we

would learn how to use gears and pulleys totransfer energy

We wanted to build a giraffe and we wanted the head to move up and down

It was a real challenge to get the head working properly. We tried to use gears, but we

couldn't get them to work. So we used a pulley system

7. CONCLUSION:


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Robotics is an absolutely fascinating field that interests most people - AI buff or not. As

research from more serious robotics projects such as Cog and Kismet filter down into the

commerical arena we should look forward to some very interesting (and cheap) virtual pets like

Aibo and the furbies. Hopefully, commericial home-based robots will also be avaible for a price

not more than an expensive vacuum cleaner. With computers becoming more and more

powerful, interfacing home robots with your computer will become a reality, and house work

will (hopefully!) disappear.

The field of robotics has created a large class of robots with basic physical and

navigational competencies. At the same time, society has begun to move towards incorporating

robots into everyday life, from entertainment to health care. Moreover, robots could free a large

number of people from hazardous situations, essentially allowing them to be used as

replacements for human beings. Many of the applications being pursued by AI robotics

researchers are already fulfilling that potential. In addition, robots can be used for more

commonplace tasks such as janitorial work. Whereas robots were initially developed for dirty,

dull, and dangerous applications, they are now being considered as personal assistants.

Regardless of application, robots will require more rather than less intelligence, and will thereby

have a significant impact on our society in the future as technology expands to new horizons.

8 REFERENCES:

http://www. generation5 .org

http://www.www.kipr.org.com

http://encyclopedia.laborlawtalk.com/Robotics
http://www.www.kipr.org.com/http://www.www.kipr.org.com/

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