Transcript CSE240 - Arizona State University

ASU 101
Introduction to Robotics and
Robotics Programming
Yinong Chen
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SCI Faculty in Robotics Computing
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Chitta Baral: AI, Autonomous agents, cognitive robotics
Subbarao Kambhampati: AI, Automated planning,
Machine learning
Pat Langley: AI, machine learning
Yann-Hang Lee: Real-time, embedded systems
W.T. Tsai: Service-oriented robotic computing
Sarma Vrudhula: Embedded systems, power management
Sandeep Gupta: Mobile computing, wireless and embedded
sensor networks
Huan Liu: Machine learning, AI, Social computing
Arunabha Sen: Wireless and mobile networks
Winslow Burleson: Human-Computer Interaction
Baoxin Li: Computer vision
Jieping Ye: Machine learning
Dirk Colbry: Robotics, Cognitive science, AI
Yinong Chen: Robotics education
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What is a Robot?
A robot is a mechanical or virtual artificial agent.
It is usually a system, which, by its appearance or movements,
conveys a sense that it has intent or agency of its own.
[http://en.wikipedia.org/wiki/Robot]
Coroware
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Kuka
Robosoft
Robotics
Connection
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Mindstorm
NXT
iRobot
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What is a Robot?
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Many devices with varying degrees of
autonomy are called robots.
Many different definitions for robots
exist.
Some consider machines wholly
controlled by an operator to be robots.
Others require a machine be easily
reprogrammable.
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Robot Classes
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Manipulators: robotic arms. These are
most commonly found in industrial
settings.
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Mobile Robots: unmanned
vehicles capable of locomotion.
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Hybrid Robots: mobile robots
with manipulators.
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Robot Components
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Body
Effectors
Actuators
Sensors
Computer hardware
Computer software
Networking and communication
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Robot Body
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Typically defined as a graph of links and
joints:
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Types of Joints
• A ball joint allows rotation
around x, y, and z,
• A hinge joint allows rotation
around z,
• A slider joint, which allows
translation along x.
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Robot Effectors
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Component to accomplish some desired
physical functions
Examples:
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Hands
Torch
Wheels
Legs
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Roomba Effectors
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Robot Actuators
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Actuators are the “muscles” of the robot.
These can be electric motors, hydraulic
systems, pneumatic systems, or any other
system that can apply forces to the
system.
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Robot Sensors
Sensors can be active or passive:
 Active – derive information from
environment’s reaction to robot’s
actions, e.g. bumpers and sonar.
 Passive – observers only, e.g. cameras
and microphones .
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Sensor Classes: Ranging sensors
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Ranging sensors, such as
 sonar,
 ultrasonic,
 IR, and
 laser sensors:
These sensors return the distance to
the object.
They typically have two lens (eyes).
One sends out a light beam and the
other receives the reflected beam.
By measuring the time and angle of
reflected beam, as shown in the
Figure on the right, the sensors can
measure the distance to the object
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Sensor Classes: Other Sensors
There are many types of sensors
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Contact (touch) sensor: A signal is
generated when touched
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Compass (magnetic) sensor
GPS (Global Positioning System)
Color sensor: return different value
for different colors
Temperature sensor
Return the temperature
Vehicle accelerometer sensor
Vehicle tire pressure sensor
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Software Architecture
for Robotics Computing
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Robotics control methods include
deliberative methods and reactive
methods.
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Deliberative methods are model-driven and
involve planning before acting.
Reactive methods is event-driven and
behavior must emerge from interaction.
Hybrid architectures are software
architectures combining deliberative and
reactive controllers.
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Routine of a Medical Professor
in Model-Driven Approach
In Office
Outside office
Research
Consult students
Write proposal
See ICU patients
Teaching Prep
Teach a course
See out-patients
See all in-patients
Read reports
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See ICU patients
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Research
Event
Board
Write proposal
Teaching Prep
Student questions
Notification
Student questions
Student questions
Student questions
Student questions
Answer student
questions
Teach a course
See out-patients
Read reports
Alert
Board
Interrupt /
Notification
Routine of a Medical Professor
in Event-Drive Approach
Outside office
ICU patient
ICU patient
ICU patient
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See all in-patients
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Model-Driven Programming
Main
Methods/Services
Temperature
Exchange
rate
Breaking
News
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Main
Control the
motors
Event
Board
Receiving
information
from base
station
Sonar sensor
Notification
Temperature
sensor
Compass sensor
Read Sensors
Decryption
Image
processing
Sending
information to
base station
Alert
Board
Interrupt /
Notification
Event-Drive Programming
Parallel Activities
Touch Sensor 1
Touch Sensor 2
Fire Sensor
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Encryption
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Event-Driven Programming
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In computer programming, event-driven
programming is a programming paradigm
which allows interactions between the
computer program and the user or the
environment;
The execution flow of the program is
determined by
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user actions, such as mouse clicks, key presses
in GUI programming!
sensor outputs (e.g., touch sensor, motion
sensor, etc.), and
messages from other programs
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Sensors and Actuators
in a Simple Robotics Application
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Communication between
Activities and Services
Event!
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Robot Ethics: Three Laws of Robotics
Isaac Asimov:
1.A robot may not injure a human being or, through inaction,
allow a human being to come to harm.
2.A robot must obey orders given to it by 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.
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Arizona Robotics Challenge
ASU versus UoA
http://asusrl.eas.asu.edu/srlab/Research/RoboticsChallenge.html
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Remote commanded patrolling
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Floor plan learning
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Unmanned patrolling and object detection
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Intruder detection
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Other Security features, such as fire detection
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Game 1:
Remote Commanded
16 ft
Remote
Monitor Station
22 ft
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Game 2: Floor plan Detection
Real map
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Detected map
How similar are they?
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Game 3: Object
Detection
Remote
Monitor Station
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Objects will have minimum dimensions
(W,L,H) of 8 inches
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Game 4: Intruder Detection
Remote
Monitor Station
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Game 5: Fire Detection
Remote
Monitor Station
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