Mobiles Robotics: Integrated Systems Design

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Mobiles Robotics Integrated Systems Design
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Where are the Robots?

• Exploration

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Where are the Robots?

• Industrial Robots

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Where are the Robots?

• Medicine

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Where are the Robots?

• Service Robots

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Where are the Robots?

• Consumer Robots

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Where are the Robots?

• Cultural Robots

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What is a Robot?

• An autonomous system which exists in the physical
  world, can sense its environment, and can act on
  it to achieve some goals.

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Spectrum of Self-Control
Teleoperation Human Control
Autonomous (AI) Control
Shared Human Robot Control
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Living Autonomously

• An autonomous robot acts on its own decisions
• Robots are not directly controlled by humans
• Can take input and advice from humans
• Robots are not teleoperated
• Making them much more difficult and interesting
  than Battlebots

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Autonomous Mobile Robots have to Solve Difficult
Problems

• Where am I?
• Localization Problem
• How do I get there?
• Path Finding Problem
• How do I find the door?
• Object Recognition Problem
• What are you asking me to do?
• Language Understanding Problem
• How can I tell you the answer to your question?
• Speech Generation Problem

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Existing in the Physical World

• Inaccessible
• near by stimuli, limited attention, imperfect
  sensors
• Non-deterministic
• Complex set of laws (many unknown)
• Dynamic
• Changes happening as decisions are made
• Continuous
• The worlds is not a set of discrete events

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Sensing the Environment

• Sensors allow the robot to perceive its
  environment to get information that allows it to
  make decisions
• Humans have 6 senses what are they?
• What sensors does a robot need?

Movie Clip
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Acting on the Environment

• Robots have effectors that allow it to change the
  state of the world
• What are human effectors?
• What effectors can robots have?

Movie Clip
Movie Clip
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Achieving a Goal

• Achieving a goal requires intelligent decision
  making
• Artificial Intelligence

Movie Clip
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Robots are complex systemsSo, what makes a
complex systems complex?
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Interactions Between Sub-systems

• Complex systems consist of multiple sub-systems,
  each one has the potential of interacting with
  every other one.

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Complexity comes from Multidisciplinary Systems

• Complex systems can be an integration of
  mechanical, electrical, chemical, and
  computational sub-systems.
• Like vacuum cleaners, washers, cars, hard drives,
  space shuttles,

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and robots.
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Why study Robotics?

• Well, robots are way coooool!
• Other areas that deal with complex systems share
  the same principles involved in designing and
  implementing robots

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Why Study Robotics?

• Real-time Systems

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Why Study Robotics?

• Multitasking

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Why Study Robotics?

• Integrated Systems Engineering
• Mechanical Engineering
• Electrical Engineering
• Computer Science
• Chemical Engineering
• Biological

Continental's electronic stability system
analyzes data from many sensors. When the sensors
indicate a driver is losing control, the system
steadies the vehicle by braking one or more
wheels or by slowing down the engine.
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The Top 10 Reasons for Taking This Course

• 10 I want to play with LEGOs for a grade!
• 9 All the other CS/ME/ECE/IME electives are
  lame.
• 8 Class is taught by the best teachers in the
  School of Engineering.
• 7 The Transformers movie ruled, dude!
• 6. I can use the pick-up line
• Want to come see my robot?

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The Top 10 Reasons for Taking This Course

• 5 So I can invent a robot that looks like me and
  Ill never have to go to another class.
• 4 I can put on my resume Robot Builder.
• 3 Lots of cool pics, demos, videos.
• 2 I want to take over the world!
• 1 Robots are way cooooool!
• Peace out

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ROBOTICS
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And The Categories Are..
Signal Processing
Control
Mechanisms
Navigation
Robots
Sensors
Planning
Integration
Communication
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Robots for 2.00

• The answer is .
• Robots are built by these.
• And the question is
• What is a cross-functional or
  multidisciplinary team?

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A Multidisciplinary Robotics Course

• Co-taught course
• Dr. Engel, Electrical Computer Engineering
• Dr.Krauss, Mechanical Engineering
• Dr. Karacal, Industrial Manufacturing
  Engineering
• Dr. Weinberg, Computer Science

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Course Objectives

1. To learn to work in a multidisciplinary team.
2. To provide a hands-on experience to practical
   robotics.
3. To learn about integrated system design.
4. To study the mechanical mechanisms necessary for
   robot movement and actions.
5. To study the electrical mechanisms of sensor
   sampling and signal processing.
6. To study the computational mechanisms necessary
   for sensory perception.
7. To study the computational mechanisms of
   autonomous robotics.

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Readings

• Textbook
• Robotic Exploration by Fred Martin
• Introduction to AI Robotics by R. Murphy
• Additional reading will be assigned.
• IMPORTANT RIF
• Teaching a multi-disciplinary course is
  challenging

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Designing, Building Programming

• Each class member will participate on a cross
  functional team of 3 or 4 students from different
  disciplines.
• Teams will work on a variety of lab assignments
  that include designing building mechanisms,
  circuits, and robots
• Robot will be built using the XBC
  (http//www.charmedlabs.com/ ).

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Final Project

• Multidisciplinary Teams will design and build a
  robot to complete in a Urban Search and Rescue
  Challenge
• Builds upon lab assignments

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Grading

• Assignments 25
• Quizzes 25
• Final Exam 20
• Final Project 30

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Next Class

• Wednesday
• Teamwork
• Form Teams
• Check-out robot kits
• Reading
• First chapters of both text books
• Handouts