© dr richard mitchell 2009 dr richard mitchell senior lecturer in cybernetics director of teaching...

© Dr Richard Mitchell 2009

Dr Richard MitchellSenior Lecturer in Cybernetics

Director of Teaching & Learning for theSchool of Systems Engineering

University of Reading, UK

Cybernetics and Cybernetics and RoboticsRobotics



Cybernetics and RoboticsCybernetics and RoboticsCybernetics is the study of systems - technological, animal, economic or environmental –interdisciplinary.60 years since Wiener’s book was published, it is even more appropriate and applicable The aim of this talk is to give an overview of the subject, show some recent / current work here, and to consider briefly where the subject is going. Various concepts and applications are considered, including Robotics, but also the use of technology to help in medicine, intelligence and Gaia hypothesis.


‘Cybernetics’ is derived from the Greek word kybernetes meaning steersman, a person in controlAmpere used the term for science of government It arose from discussions between researchers from various disciplines with common interestsAs the science of systems it is as relevant to the study of our effect on natural systems as to the design of complex technological systemsCybernetics encompasses related subjectsCyberneticists (eg McCulloch) pioneered Control, AI...

CyberneticsCybernetics


Definitions + Areas of Definitions + Areas of CyberneticsCybernetics

Control & Communication in the animal & the machine

“First Order” Cybernetics – for control

Advanced systems – learn to control, act, etc –

Cybernetics includes learning and intelligence

Interacting Systems –

In particular Human-Machine interactions, VR

Environmental Cybernetics

Gaia hypothesis

These all involve feedback …


Cybernetics - a Different Perspective

Fundamental principles, such as feedback, applicable to a great variety of diverse systems, technological, environmental, biological, or a mixture


Feedback for Control : Feedback for Control : SteersmanSteersman

Note signs – net sign round loop is –ve : for control

Also for steering / speed control of other vehicles

Winds/Tides

Steersman

CourseBoat

Left /Right +-

How does feedback work?


Feedback for Control of Robot Feedback for Control of Robot ArmArm

In fact, need control for each joint, ….

Obstacles

Joint Motors

PositionRobot ArmTurn

/ AntiClock

+-


Feedback for Central HeatingFeedback for Central Heating

Sun, PCs, People

Air Con/Boiler

TemperatureRoom

Heat /Cool +-


Feedback for Body ControlFeedback for Body Control

Sun, Illness, etc

Action

TemperatureBody

Sweat /Shiver +-


Feedback for VRFeedback for VR

Human

Computer

-ment

Image

Move+-

Also include other senses – eg touch … haptics

Also Augmented Reality and Tele-operation


Feedback for LearningFeedback for Learning

Refiner

Do Task

WayBetter

Well done?

You learn by your mistakes ……


Neural Network LearningNeural Network LearningLike brain: have network of neurons

Each neuron sums products of each input and weight of connection

Provide inputs, calculate outputs

But must learn weights

Feedback!

Outp

uts

Inputs

Expected Outputs

Outputs

Learning

WeightsChange

Inputs

Network


Inherent FeedbackInherent Feedback

regulator

vesselclock

watersupply

vessel

valvefloat Cybernetics

began in the toilet!

Bucket – hole in bottomAs water flows out, less weight, so less pressure – water flow reduced

Led to first man-made feedback system – water clock – 250 BC


But, Feedback Can be But, Feedback Can be ProblematicProblematic

Also applies to stock markets !

Managers

Workforce

Prices Wages++

Note the signs : net sign round loop is positive


Arms RacesArms Races

Examples in nature as well as warring countries …

Prey

Predator

Better armour

Better weapons

++


Snowball EarthSnowball EarthWhen Earth tilts, starts cooling …

Reverse process also : rapid heating

Earth

Ice-caps

Cools Larger++


So feedback can control – reduce disturbancesSometimes it can cause problemsIn fact there are two types of feedback

Negative Feedback – for controlPositive Feedback – for change

Positive not necessarily bad if Negative alsoIn fact, it can be used to move towards a new

state and held there using negative feedbackNot really done in man-made systems …

Positive and Negative Positive and Negative FeedbackFeedback


Daisyworld – explain GaiaDaisyworld – explain Gaia

Note, for long period, temp constant – better if more species!

Once 7OC: daisies grow, heating or cooling, until too hot

Sun

Daisies

TemperaturePlanet

Black /White

if no life

if life

Time

Co

7

22

37Temp

Daisies on planet orbiting heating sun – grow best at 22OC, not if < 7OC or > 37OC.


Some ApplicationsSome Applications

There are numerous applications of CyberneticsThe next three slides introduces theseThen there are detailed slides with some videos etc of some work done.Some of this is at the undergraduate project levelSome at staff/research levelMy thanks to all students/staff involved.Apologies to colleagues whose work is not there


Interactive R2-D2 ToyInteractive R2-D2 ToyBy Dave KeatingBy Dave Keating

Feedback Control – Feedback Control – derived from work derived from work

herehere

RoboticsRobotics

Communicating & Learning

Yorick – stereo robot head


BiomedicalBiomedical

Prosthetic Hand

Gentle – stroke rehabilitation

Haptics –feeling – Use with VR, e.g. surgery training

CYBORG - Implant


Instrumentation and SignalsInstrumentation and Signals

Terahertz Terahertz TechnologyTechnology

Infra-red Multi Layer Filters – in space

Relates to Gaia

Also, novel uses of feedback in instruments


Learning Studies in Learning Studies in Simulated Mobile RobotsSimulated Mobile Robots

Isaac Ashdown - Isaac Ashdown - BSc Intelligent BSc Intelligent SystemsSystems

Reinforcement learning by 5 fuzzy automata

System to determine how many automata needed


Collaborative Robot Collaborative Robot BehaviourBehaviour

Flocking

Following

Homing

Exploring

Daniel Saxil-Nielsen - BSc AI and CyberneticsTo investigate collaboration with multiple agents,

in particular with little or no communication.


Augmented RealityAugmented Reality

Add imagery to real scene : eg imaginary robotsOr - as here – image showing emotionEmotion TransformerIf Sonar > 20cm

Then Curiosity++Else Curiosity--

Emotion GeneratorIf Curiosity > 30

Then Speed += 20Else Speed -= 10

Chris Tingley MEng Computer Science and Cyb


Run .. Affects Run .. Affects Anger/CuriosityAnger/Curiosity

Sensors Emotion Transfor

m

Emotion Generator

Motors


Bipedal simulation in SimMechanics

By Erez Ashkenzi - MEng Cybernetics

Why Legs?

Wheels ok on smooth terrain …

It is a tough control problem – Requires advanced non-linear control schemes


Robot with a Biological BrainRobot with a Biological BrainKevin Warwick (Cyb) Ben Whalley (Pharmacy) etcRobot controlled by a biological brain formed from cultured neurons

To examine how memories manifest themselves in the brain, and how a brain stores specific pieces of data

Could lead to a better understanding of development and of diseases and disorders

http://www.reading.ac.uk/research/films/res-otherresearchfilms.asp


Also On Intelligence / BrainsAlso On Intelligence / Brains

Slawek NasutoSwarm and Distributed IntelligenceUnderstanding the brainBrain Interfaces .. EEG to Computer using ICA

Input Processing & Translation

Output


Active Vision:Active Vision:Motion Tracking and Motion Tracking and

PredictionPredictionAndrew David Stuart Smith - MEng Cybernetics

Aim to track an object moving in an environment using predictive behaviour, thus removing the need for time expensive image processing routines.


Optimal 3D Xray ScanningOptimal 3D Xray Scanning

For medical and security applications -

3D surface derived, using multi-view epipolar geometry, from 2D contours using 10 conventional X-ray images from diff angles (determined using genetic algorithms)

For more info, contact Simant Prakoonwit

Much less data than CT methods – much cheaper


HCI for Elderly / DisabledHCI for Elderly / Disabled

Point & Click difficult for elderlySo (eg) expand target as cursor nears

force-feedback mouse – easier cursor interactions if tremorstactile technologies to make graphics accessible for people with vision impairment.

Faustina Hwang


Simulation For Minimally Simulation For Minimally Invasive Surgery On the Invasive Surgery On the

ShoulderShoulderHelen Batson - BSc Biomedical Eng & Cyb

To create a medical training simulation for shoulder surgery which finds positions on the surface of the socket of the shoulder, and provides a six degrees of freedom input device to manipulate a virtual probe


Haptics, Robots for Haptics, Robots for RehabilitationRehabilitation

http://www.reading.ac.uk/research/researchshowcase/neurorehabilitation/res-neurorehabilitation.asp How the use of a robotic arm and virtual reality games can offer entirely new approaches to neurorehabilitation.

For haptics: http://www.personal.reading.ac.uk/~shshawin/LN/thril.html


Haptic TorchHaptic TorchAdam Spiers, BSc Cyb & Control Engineering

Improve navigational abilities for people with varying levels of visual impairment

Replace white stick

Distance of objects found by ultrasound moves tactile device

http://www.reading.ac.uk/isrg/isrg-haptic-torch.asp


Musical Juggling ballMusical Juggling ball

Aim: a new musical interface capable of being utilised particularly in a therapeutic setting. Specifically allowing those with additional needs to participate in music creation as a therapy.

Alexander Leming - MEng Cybernetics


Feedback and Feedback and InstrumentationInstrumentation

Coil output is measure of Earthquake

Coil

PositionPendulumLeft /

Right

Earthquake

Force Feedback Seismometer Small pendulum in coil, feedback stops it moving

Also force feedback microphoneAlso used in design of Terahertz Instruments


Terahertz ResearchTerahertz Research

Microwaves

Terahertz Infrared Visible

3 mm, 100 GHz

30 μm, 10 THz

Electronic techniques

Photonic techniques

Last part of e.m spectrum to be explored

Energies of many key biological processes here

So plenty of interesting applications

tempmagpsi

5 0 5

5

0

5

w0p 80010 6


Terahertz ApplicationsTerahertz Applications

Medical imaging – non-invasive biopsy of skin cancerSecurity screening –detection of concealed weaponsNon-destructive testing – e.g. pharmaceuticalsPlasma diagnostics Label-free DNA sequencingRadar CommunicationsMeteorology, climatology, atmospheric chemistry

Infra-Red Multi Layer Filters also allow gases in atmosphere to be determined … and this relates to Gaia hypothesis and Environmental Cybernetics


GaiaGaiaJames Lovelock – visiting Professor in CyberneticsPostulated Life and Planet act as one - regulating

environmental variables to mutual advantageeg temperature, reasonably steady despite large

change in strength of solar radiationGreenhouse gases down as sun’s output up by 25%

Plants

TemperatureEarthCO2

Increasing Sun’s O/p


Climate Change and GaiaClimate Change and GaiaLife existed continually since began

Have been major extinctions – eg snowball earth when life started – rapid drop of CO2 + meteors

So –ve feedbacks meant temp controlled well enough

Now suggested that the CO2 temp loop changed to a net positive loop … could lead to major change.

Or, in 100 million years, sun so hot - no CO2 needed – so no plants – or +ve fb move Gaia to new temp, say 25OC, where CO2 needed – good for plants

Better Climate models now need – must include life


Systems Engineering at Systems Engineering at ReadingReading

School of Systems Engineering comprisesComputer Science, Informatics, Cybernetics and Electronic Engineering

We offer BSc/BEng and MEng degrees in the aboveplus Joint degrees between subjects eg Robotics

There are also degrees with Business and MathsEntry Points vary … typically

320 points for MEng 280 for BScThe next Open Day is in September.


Degrees in Systems Degrees in Systems EngineeringEngineering

CS

IT IT&M

SwE CSM

CS/CYAI/CY

Rob SysE

CY

CyCon

BioMCy

EE/CYEE

EE/CS

ConsEl

CEng

Main undergraduate degrees;

Can have variants with industry year

Some exist as MEng and BSc/BEng

Also run MSc degrees and PhD


SummarySummary

Cybernetics is a broad subject – a systems subject

It is appropriate in many applicationsRobotics is one areaBut there are many more, technological and non..

You can study Cybernetics, Robotics and many more subjects at the University of Reading

Any questions?

© dr richard mitchell 2009 dr richard mitchell senior lecturer in cybernetics director of teaching...

Documents

cybernetics slide

feedback slide

robotics dr richard

robotics cybernetics

uk cybernetics

order cybernetics

mixture slide

control advanced systems