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ASU 101Introduction to Robotics and Robotics Programming

Yinong Chen

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SCI Faculty in Robotics Computing 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 Kuka Robosoft

RoboticsConnection

Mindstorm NXT

iRobot

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What is a Robot?

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

Manipulators: robotic arms. These are most commonly found in industrial settings.

Mobile Robots: unmanned vehicles capable of locomotion.

Hybrid Robots: mobile robots with manipulators.

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Robot Components

Body Effectors Actuators Sensors Computer hardware Computer software Networking and communication

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Robot Body

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

Component to accomplish some desired physical functions

Examples: Hands Torch Wheels Legs

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Roomba Effectors

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Robot Actuators

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

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 SensorsThere are many types of sensors

Contact (touch) sensor: A signal is generated when touched

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

Robotics control methods include deliberative methods and reactive methods. 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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Research

Write proposal

Consult students

Teaching Prep

See ICU patients

See out-patients

Teach a course

Read reports

See all in-patients

See ICU patients

Outside officeIn Office

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Research

Write proposal

Student questions

Teaching Prep

Answer student questions

ICU patient

Teach a course

See out-patients

Read reports

See all in-patients

Outside office

Event Board

Alert Board

ICU patient

ICU patient

Student questions

Student questions

Student questions

Student questions

Not

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Model-Driven Programming

Main

Temperature

Breaking News

Exchange rate

Methods/Services

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Eve

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Control the motors

Receiving information from base

station

Sonar sensor

Read Sensors

Touch Sensor 1

Decryption

Image processing

Sending information to

base station

Encryption

Event Board

Alert Board

Touch Sensor 2

Fire Sensor

Temperature sensor

Compass sensor

Not

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Parallel ActivitiesMain

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Event-Driven Programming

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 • 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 ChallengeASU versus UoA

Floor plan learning2

1

Unmanned patrolling and object detection3

Intruder detection4

Other Security features, such as fire detection5

Remote commanded patrolling

http://asusrl.eas.asu.edu/srlab/Research/RoboticsChallenge.html

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Game 1: Remote Commanded

32 ft

22 ft

16 ft

RemoteMonitor Station

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Game 2: Floor plan Detection

Real map Detected map

How similar are they?

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Game 3: Object Detection

RemoteMonitor Station

Objects will have minimum dimensions (W,L,H) of 8 inches

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Game 4: Intruder Detection

RemoteMonitor Station

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Game 5: Fire Detection

RemoteMonitor Station