ASU 101

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ASU 101 Introduction 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

Kuka
Coroware
Robosoft
Robotics Connection
iRobot
Mindstorm NXT
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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 environments
  reaction to robots 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 Sensors

• There 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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Routine of a Medical Professorin 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
See ICU patients
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Routine of a Medical Professorin Event-Drive
Approach
Outside office
Research
Event Board
Student questions
Student questions
Write proposal
Student questions
Notification
Student questions
Teaching Prep Answer student questions
Student questions
Teach a course
Alert Board
ICU patient
Interrupt / Notification
ICU patient
ICU patient
See all in-patients
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Model-Driven Programming
Main
Methods/Services
Temperature
Exchange rate
Breaking News
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Event-Drive Programming
Main
Parallel Activities
Control the motors
Event Board
Sonar sensor
Receiving information from base station
Temperature sensor
Notification
Compass sensor
Read Sensors
Decryption
Alert Board
Touch Sensor 1
Interrupt / Notification
Touch Sensor 2
Fire Sensor
Encryption
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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
• A robot may not injure a human being or, through
  inaction, allow a human being to come to harm.
• A robot must obey 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.

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Arizona Robotics ChallengeASU versus UoA
http//asusrl.eas.asu.edu/srlab/Research/RoboticsC
hallenge.html
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Remote commanded patrolling
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Game 1 Remote Commanded
16 ft
Remote Monitor Station
22 ft
32 ft
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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
Remote Monitor Station
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