topics in modern robotics for computer science masters studies goran s. Đorđević, and milan...

Topics in Modern Topics in Modern Robotics Robotics

for Computer Science for Computer Science Masters StudiesMasters Studies

Goran S. Goran S. Đorđević, and Milan RašićĐorđević, and Milan RašićRobotics LabRobotics Lab

Faculty of EE, University of NišFaculty of EE, University of NišSerbia and MontenegroSerbia and Montenegro

http://robot.elfak.ni.ac.yuhttp://robot.elfak.ni.ac.yu

October 13, 2004 Topics in robotics for CS MS Program

Presentation outlinePresentation outline

► Industrial RoboticsIndustrial Robotics►Modern RoboticsModern Robotics►Modern Robotics in CSModern Robotics in CS►Robotics Lab within Faculty of EERobotics Lab within Faculty of EE►Tentative subjects in Robotics for CS Tentative subjects in Robotics for CS

MSMS►Senior design projectSenior design project►ConculsionConculsion


We rememberWe remember......

10% o f w ha t w e read

20% o f w ha tw e hea r

30% o f w ha tw e see

50% o f w ha t w e see and hea r

70% o f w ha t w e say

90% o f w ha tw e m ake


How to gain a new How to gain a new knowledge?knowledge?

► In a fun wayIn a fun way► Trying to realize project with a clear goalTrying to realize project with a clear goal► Test it and see what does/not workTest it and see what does/not work► Apply scientific knowledge to improve Apply scientific knowledge to improve

conceptconcept► Redesign and testingRedesign and testing► Team-work and experience exchangeTeam-work and experience exchange► Desireable: find an interdisciplinary field to Desireable: find an interdisciplinary field to

gain comprehensive knowledgegain comprehensive knowledge► RoboticsRobotics is such a field! is such a field!


RoboticsRobotics

► ““Robot is a man-made machine with body Robot is a man-made machine with body and intelligent feedback-based connection and intelligent feedback-based connection between perception and action”between perception and action”

► Starting as Art via Science (in late XX) it Starting as Art via Science (in late XX) it became competitive technologybecame competitive technology

► Still it is art in commics, games, books, Still it is art in commics, games, books, movies...movies...

► Before new robots are estabilshed as Before new robots are estabilshed as technology, lots of science need to be technology, lots of science need to be developeddeveloped


What’s known in robotics?What’s known in robotics?

► Industrial robotics is techology not a scienceIndustrial robotics is techology not a science► Strong market (up to $5 bil annually)Strong market (up to $5 bil annually)► Usually met in automotive industryUsually met in automotive industry

Strong and Precise: up to half a tone; up to 0.1mm accuracyStrong and Precise: up to half a tone; up to 0.1mm accuracy Fast: up to 10G accelerationFast: up to 10G acceleration Modular designModular design

► New industrial robots obey:New industrial robots obey: Price cuts (in design, service and programming)Price cuts (in design, service and programming) Increased reliability (>50.000 hrs MTBF)Increased reliability (>50.000 hrs MTBF)

► The only fields left for research areThe only fields left for research are Programming in unknown environmentProgramming in unknown environment

► So, why students should be trained in Industrial So, why students should be trained in Industrial Robotics?Robotics?


Robotics today is more funRobotics today is more fun


Robotics Tomorrow?Robotics Tomorrow?


WhatWhat’s new in’s new in robotics robotics??► MobilityMobility

Robot is not just an arm! Robot is not just an arm! It has wheels and legs now.It has wheels and legs now.

► Modern (service) robotics blends: CS, control engrg Modern (service) robotics blends: CS, control engrg and electronics engrgand electronics engrg

► New sensors and sensor fusion to understand world New sensors and sensor fusion to understand world and interaction with itand interaction with it

► Although modern robots are present in Although modern robots are present in Medicine (Diagnostics, Surgery, Rehabilitation)Medicine (Diagnostics, Surgery, Rehabilitation) Air and Space (Drones, SWARM-bots for space exploration)Air and Space (Drones, SWARM-bots for space exploration) Military (Mining/Demining, Exoskeletons, Survailance, Military (Mining/Demining, Exoskeletons, Survailance,

Reconnaissance)Reconnaissance) Toys and petsToys and pets

► Still there is no market in general for modern robotsStill there is no market in general for modern robots


What modern robotics What modern robotics needs?needs?

► Market: Korea plans to spend $10 bil /10 yrs. to Market: Korea plans to spend $10 bil /10 yrs. to develop market and gain technology for robo-develop market and gain technology for robo-appliances.appliances.

► Education in Robotics not only to develop better Education in Robotics not only to develop better robots but to educate future consumersrobots but to educate future consumers

► Still needs technology inStill needs technology in Power supplyPower supply Actuation and sensingActuation and sensing Processing powerProcessing power

► But also needs science inBut also needs science in Smart materialsSmart materials Algorithms and ControlAlgorithms and Control IntelligenceIntelligence Human motor controlHuman motor control Sensor fusionSensor fusion


Robotics in CS?Robotics in CS?

► Robotics as stand-alone curriculum is challengingRobotics as stand-alone curriculum is challenging► Perceiveing robot function needs lots of skills in CS Perceiveing robot function needs lots of skills in CS

and Control engrgand Control engrg► Good for morphing the kwnoledge in CS and Good for morphing the kwnoledge in CS and

controlcontrol► In fact, modern robots are developed mainly within In fact, modern robots are developed mainly within

CS departmentsCS departments► Robotics is broad and should not be studied Robotics is broad and should not be studied

through only one subject in Masters.through only one subject in Masters.► Robotics education can be done with both, modest Robotics education can be done with both, modest

or excessive finances, almost equally well.or excessive finances, almost equally well.► Studing robotics can be lots of fun!Studing robotics can be lots of fun!


Scientific topics in modern Scientific topics in modern roboticsrobotics

► Build better robot bodies using smart materialsBuild better robot bodies using smart materials► Signal processing, decision and control Signal processing, decision and control

algorithmsalgorithms► Mathematical modeling (Fuzzy, Neuro, GA, misc)Mathematical modeling (Fuzzy, Neuro, GA, misc)► Embedded processing and FPGAEmbedded processing and FPGA► Diverse sensors and sensor fusionDiverse sensors and sensor fusion► Reusable softwareReusable software► Reliability to sensor/actuator failureReliability to sensor/actuator failure► Human motor control and human-robot Human motor control and human-robot

interactioninteraction► Robustness to unpredicted interactionRobustness to unpredicted interaction


Robotics at Faculty of EE, NiRobotics at Faculty of EE, Nišš► PersonalPersonal

Regular: 1 Prof, 1 TA, 3 GraduatesRegular: 1 Prof, 1 TA, 3 Graduates Occasional: up to 10 undergrads working for EUROBOTOccasional: up to 10 undergrads working for EUROBOT

► FacilitiesFacilities Five robotsFive robots Lots of dev-boards, sensors, motor drivers, Lots of dev-boards, sensors, motor drivers,

measurement equipmentmeasurement equipment► TeachingTeaching

Robotics (Introduction, Control)Robotics (Introduction, Control) Intelligent machines and systemsIntelligent machines and systems Flexible automationFlexible automation Control engineeringControl engineering MATLAB-oriented robotics coursesMATLAB-oriented robotics courses


Robotics Lab Robotics Lab at Faculty of EEat Faculty of EE► Belongs to Control Engrg KatedraBelongs to Control Engrg Katedra► Multidisciplinarity in researchMultidisciplinarity in research► Our moto: No use of programming if nothing Our moto: No use of programming if nothing

is moving at the end (at least animated)is moving at the end (at least animated)


Custom designed robotsCustom designed robots


Custom designed robots IICustom designed robots II

► Efficient Efficient P drive systemP drive system► Coordinated armCoordinated arm► Wireless communicationWireless communication► Ultrasonic sensor for obstacle localisationUltrasonic sensor for obstacle localisation► Inertial navigation and digital compassInertial navigation and digital compass► Sensor fusionSensor fusion► Digital signal processingDigital signal processing► MATLAB prototyping, data analysis and MATLAB prototyping, data analysis and

modelingmodeling► Motion planning in unknown environmentMotion planning in unknown environment► Intelligent controlIntelligent control


Custom designed controllersCustom designed controllers► Custom Bubash Custom Bubash

BoardBoard► A universal controllerA universal controller► NodEm Yipee NodEm Yipee

crickets:crickets: Small size and low Small size and low

powerpower TCP/IP stackTCP/IP stack In-Network In-Network

programmingprogramming► Easier Easier

experimentation by experimentation by direct in-MATLAB direct in-MATLAB coding and data coding and data acquisition acquisition

► Robots can Robots can communicate as communicate as team-players via LANteam-players via LAN


Robot animations IRobot animations I

► Optotrak Optotrak measurementsmeasurements

► Inertial navigationInertial navigationdatadata

► MATLAB animationMATLAB animation


Robot Robot animations IIanimations II► Visually interactive robot simulatorVisually interactive robot simulator

Scene:Scene: prisms and shadows prisms and shadows CammeraCammera is programmable is programmable Robot:Robot: can have arbitrary configuration and it is connected can have arbitrary configuration and it is connected

to MATLAB computationsto MATLAB computations


Robotics Lab WebsiteRobotics Lab Website

► Regularly managed website Regularly managed website http://robot.elfak.ni.ac.yuhttp://robot.elfak.ni.ac.yu

► Ranked in GoogleRanked in Google► Contains:Contains:

Student information Student information Literature for downloadLiterature for download Research papers for downloadResearch papers for download Current projects updateCurrent projects update ForumForum EUROBOT competition updateEUROBOT competition update


Topics in Modern Robotics for CS Topics in Modern Robotics for CS MSMS

► AlgorithmsAlgorithms► Digital signal processingDigital signal processing► Microcontroller devboard and programming Microcontroller devboard and programming

(BASIC Stamp, Handyboard, NodEm, custom design)(BASIC Stamp, Handyboard, NodEm, custom design)► Computer visionComputer vision► Decision making and AIDecision making and AI► Smart interaction machinesSmart interaction machines► Human Motor controlHuman Motor control► Robot programming, languagesRobot programming, languages► Simulation and visualisationSimulation and visualisation► Building robotsBuilding robots


Tentative Subjects in CS-MSTentative Subjects in CS-MS

►Modern roboticsModern robotics►Mobile robotics and intelligent controlMobile robotics and intelligent control►Sensing and planning in roboticsSensing and planning in robotics► Intelligent machines and systemsIntelligent machines and systems►Senior Design ProjectSenior Design Project



►Modern roboticsModern robotics Design of mechatronic systems. Design of mechatronic systems. Technology in actuationTechnology in actuation and and sensing. sensing. Vision. Vision. Decision making and Planning. Decision making and Planning. Embedded microcontrollers. Embedded microcontrollers. Simulation and Animation.Simulation and Animation.



►Mobile robotics and intelligent controlMobile robotics and intelligent control Mobile robot design. Mobile robot design. Robot control architectures. Robot control architectures. Behaviors. Behaviors. Preception. Preception. Knowledge representation. Knowledge representation. Behavior-based control. Behavior-based control. Adaptive and social behaviors.Adaptive and social behaviors.



►Sensing and planning in roboticsSensing and planning in robotics Internal and external sensors. VisionInternal and external sensors. Vision PerceptionPerception Task parameters and taxonomy Task parameters and taxonomy SWARM and BEAM robotsSWARM and BEAM robots Probabilistic path planningProbabilistic path planning Localisation, mapping and space Localisation, mapping and space

explorationexploration



► Intelligent machines and systemsIntelligent machines and systems Intelligent sensing and actuation. Intelligent sensing and actuation. Modeling of electromechanical systems. Modeling of electromechanical systems. Modeling of robot-environment Modeling of robot-environment

interaction. interaction. Human-computer interaction. Human-computer interaction. Modeling of human-robot interaction. Modeling of human-robot interaction.



►Senior Design ProjectSenior Design Project Requirement before student approaches Requirement before student approaches

writing of MS thesiswriting of MS thesis Team work towards a product Team work towards a product

(algorithm, s/w, board, machine, etc.)(algorithm, s/w, board, machine, etc.) Supported by one or more advisorsSupported by one or more advisors Regular work in selected LabsRegular work in selected Labs Financial support by faculty Financial support by faculty

and/or commercial projectsand/or commercial projects


Why Senior Design Project?Why Senior Design Project?

►Consolidate tech/sci knowledgeConsolidate tech/sci knowledge►Gain a new one in technology and scienceGain a new one in technology and science►Learn toLearn to

Work as a part of teamWork as a part of team Communicate to team members and to advisorCommunicate to team members and to advisor Respect due dateRespect due date

►Select students for PhD studies afterwardsSelect students for PhD studies afterwards


ConclusionConclusion

►Robotics Robotics generally generally belongs to CS Mastersbelongs to CS Masters►Provides learning-by-doing examples Provides learning-by-doing examples

suitable for teaching in many CS areassuitable for teaching in many CS areas►Students and teachers from CS Students and teachers from CS

department already cooperate with department already cooperate with Robotics Lab, informallyRobotics Lab, informally

►Robotics lab facilities at U. of NiRobotics lab facilities at U. of Nišš is open is open for integrating into CS MS programfor integrating into CS MS program

►Need for extended curriculum in CS-MSNeed for extended curriculum in CS-MS

topics in modern robotics for computer science masters studies goran s. Đorđević, and milan...

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