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CE801: Intelligent Systems and Robotics

Prof. Dr. Hani Hagras

Course Overview 2

Introduction to intelligent systems and robotics

Robot Sensors

Robot Actuators

Overview on Robot Control

Behaviour Based Robotics

Fuzzy Logic Control

Special thanks to Dr Martin Colley and Professor Gu where the Course material is based on the material he used and developed.

Structure

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Lectures

10 lectures

Labs

9 labs

Two hours per lab,

Robot Arena

Learning Outcomes 4

This module gives an introduction to intelligent systems and robotics.

It goes on to consider the essential hardware for sensing and manipulating the real world, and their properties and characteristics.

The programming of intelligent systems and real-world robots are explored in the context of localisation and robot control and fuzzy logic systems.

Learning Outcomes 5

After completing this module, students will be expected to

be able to: Demonstrate an understanding of a range of intelligent systems and

robots

Explain the characteristics of a range of sensors and actuators

Explain the basic principles of robot localisation

Make use of the principles of robot control in controlling real-world devices

Have complete understanding of intelligent robot control using fuzzy logic systems

Perform programming of a robot

Grading 6

Assignment

1 Assignment: Worth 30% of your final mark: Out WK 4, In WK 11

Exam: 2 hours: Worth 70% of your final mark

Recommended Reading 7

BEKEY, G., Autonomous Robots, The MIT Press, 2005, ISBN-10: 0262025787, ISBN-13: 978-0262025782

MURPHY, R., Introduction to AI Robotics, The MIT Press, 2000, ISBN 0-262-13383-0

Robotics 8

Design, manufacture, control, and programming of robots

Use of robots to solve problems

Study of control processes, sensors, and algorithms used

in humans, animals, and machines

Application of control processes and algorithms to

designing robots

Intelligent Systems 9

Perform useful functions driven by desired goals and

current knowledge

Emulate biological and cognitive processes

Process information to achieve objectives

Learn by example or from experience

Adapt functions to a changing environment

Terminator II 10

Terminator: My CPU is a neural net processor, a learning computer. The more contact I have with humans, the more I learn.

Robotics History 11

A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance

The word robot was introduced to the public by the Czech writer Karel Capek in his play R.U.R. (Rossum's Universal Robots), published in 1920. The play begins in a factory that makes artificial people called robots, though are creatures who can be mistaken for humans. They can plainly think for themselves, though they seem happy to serve.

The word robot comes from the word robota, meaning literally slave labour , and, figuratively, "labour" or "hard work" in modern Czech language.

Karel Čapek himself did not coin the word where the word was coined by his brother Josef Čapek,

The word robotics, used to describe this field of study, was coined by the science fiction writer Isaac Asimov. Asimov created the Three Laws of Robotics" which are a recurring theme in his books. These have since been used by many others to define laws used in fact and fiction. Introduced in his 1942 short story "Runaround" the Laws state the following:

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

A robot must obey any orders given to it by human beings, except where such orders would conflict with the First Law.

A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

Overview on Robotics History I 12

1921: The term robot was first used, in a play called RUR (Rossum’s Universal Robots) by the Czech writer Karel Capek.

1939: Elektro, humanoid in appearance, was shown in NY World’s Fair (the smoking robot).

1941: The word ‘robotics’ was first used by science fiction writer Isaac Asimov

1956: Formation of Unimation, the word’s first robot company. Built first Industrial robot, PUMA (Programmable Universal Machine

for Assembly) in 1961 for General Motors. 1970: Shakey the first mobile robot with the ability to reason and react

to its environment controlled by artificial intelligence was created by SRI International.

Overview of Robotics History II 13

1968: The first computer controlled walking machine created by Mcgee and Frank at the University of South Carolina.

1980: Quasi-dynamic walking was developed by Ichiro Kato, Waseda University,

1981: Arms in space “Canadarm” was first deployed aboard the Columbia to repair satellites, telescopes and shuttles by Jet Propulsions Laboratories (JPL)

1989: The Mobile Robots Group at MIT created Genghis, a walking robot. "Genghis gait

Overview of Robotics History III 14

1996: RoboTuna was created by David Barrett at MIT. The robot is used to study how fish swim

1996: Honda created P2, the first major step in creating their ASIMO. P2 was the first self-regulating, bipedal humanoid robot.

1997: NASA's PathFinder “Sojourner” landed on Mars. It is a robotic rover that sends images and data about Mars back to Earth,

1998: Dr. Cynthia created Kismet, a robotic creature that socially interacts with people.

Overview of Robotics History IV 15

1998: LEGO released their MINDSTORMS product

1998: Sony released the first Aibo dog.

2000: Honda released the ASIMO.

2007: Nao Robot

Early Robotics Control Paradigms: Sense-think-act paradigm

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Developed in SRI in 1967

Sense-think-act paradigm Sense the world using vision, sonar range finder

Plan a sequence of actions that achieves specified goal (STRIPS)

Execute plan

Tasks: navigation around blocks and

Implemented in the Robot Shakey to go over bridges, rearranging blocks by pushing them

Behaviour Based Robotics 17

Robots should not plan their actions using a planner like STRIPS

Instead, intelligent behaviour should “emerge” from a set of robust behaviors

Behaviours are local-domain experts

No explicit models of the environment

Do something simple, but do it effectively

Human Augmentation Back to the Future 18

Assistive Robots 20

Space Robots 21

Mars Exploration Rover - A (Spirit) and Mars Exploration Rover – B (Opportunity)

Both had successful missions on Mars in starting in late 2004 (and are still both operational)

9 cameras

Remote human planning combing with local autonomy

Increased autonomy as mission has progressed

Robocup Challenge 22

The Robocup sets a target that by year 2050, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup.”

Different leagues: Soccer Leagues

Small Size League Medium Size League Simulation League Standard League Humonid League

Robocup at Home Rescue League Logistics League

DARPA Grand Challenge 23

2005 Winner “Stanley” (Stanford University)

Completed 175miles desert course autonomously in 6 hours 54 minutes

Guided along rough “corridor” by GPS

Road-following and obstacle avoidance using laser range-finder and vision.

DARPA Grand Challenge II 24

2007 winner “BOSS” (Carnegie Mellon University)

Robots had to achieve extended missions in a mocked-up urban area, obeying California traffic laws and avoiding other vehicles

Much more sophisticated sensor suites than in desert challenge (lasers, cameras, radars) to achieve all-around awareness

Applications 25

Exploration (planetary, undersea, polar) Search and rescue (earthquake rescue, demining) Mining and heavy transport Military (unmanned aircraft, unmanned underwater

vehicles) Medical (helping the elderly, hospital delivery, surgical robots) Transport (autonomous cars) Domestic (Vacuum cleaning, Lawn mowing, …) Agricultural Museum Guide Entertainment