Mindstorms 1.1 Today’s topics l AI l History of Robotics l Uses of robots l The RCX l ROBOLAB l Upcoming ä Basic control ä Kinematics ä Robot architectures.

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Presentation transcript:

Mindstorms 1.1 Today’s topics l AI l History of Robotics l Uses of robots l The RCX l ROBOLAB l Upcoming ä Basic control ä Kinematics ä Robot architectures

Mindstorms 1.2 What is AI? l How do minds work? l Is it possible for machines to act intelligently in the way that people do, and if they did would they have minds? l Definitions ä Weak AI ä Strong AI l Do AI researchers care? HumansRational Thinking Acting Possible definitions

Mindstorms 1.3 What is a robot? l Definitions ä Webster: a machine that looks like a human being and performs various acts (as walking and talking) of a human being ä Robotics Institute of America: a robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks ä What’s our definition l Components of a robot system?

Mindstorms 1.4 History l 1921: Karel Capek’s play, Rossum’s Universal Robots l 1942: Asimov wrote Runaround which contained the “Three Laws of Robotics” 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 the orders given 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. l 1948: Weiner wrote “Cybernetics” l 1961: General Motors’ puts UNIMATE online (first industrial robot) l 1970: SRI’s Shakey : first AI mobile robot

Mindstorms 1.5 Uses of robots l Where and when to use robots? ä Tasks that are dirty, dull, or dangerous ä Where there is significant academic and industrial interest l Ethical and liability issues l What industries? l What applications?

Mindstorms 1.6 Agents and Environments

Mindstorms 1.7 Control basics l Some definitions: ä Control system: arrangement of physics components connected or related in such a manner as to form and/or act as an entire unit ä Kinematics: the description or study of the geometry of motion ä Dynamics: the description or study of the forces that affect the motion of objects l Open-loop control ä Compute trajectory a priori and make necessary actions to complete task l Closed-loop control ä Use sensors to provide feedback to modify the trajectory and actions

Mindstorms 1.8 Computer architecture von Neumann model l Memory: random access memory (RAM) for program instructions and data l ALU: includes set of registers for performing calculations l Control: responsible for fetching and decoding instructions l Input & output l Bus: various internal pathways Control arthmetic/ logic Memory Processor Input Output

Mindstorms 1.9 The RCX l Hitachi H8/3297 series processor l 3 inputs/sensors (1, 2, 3) l 3 outputs/motors (A, B, C) l 32k RAM/ 16k ROM ä 12 kB free in leJOS l Multiple threads of execution l LCD Display & Speaker l 3 programmable buttons l IR send/receive l Sensors ä Light, touch, rotation ä Sonar and compass avail

Mindstorms 1.10 Working with RCX l RCX needs firmware on it in order to be programmable l Programming process 1. Design program 2. Implement on PC 3. Download onto RCX using IR tower  Code converted to bytecodes that RCX understands 4. Test 5. Debug and go back to step 1 or 2

Mindstorms 1.11 ROBOLAB l Pilot Mode ä graphics based ä limited capability ä great for kids? l Inventor Mode ä variables ä conditionals ä loops ä multitasking l Investigator Mode ä Charts & graphs ä Analyze data

Mindstorms 1.12 Pilot

Mindstorms 1.13 Inventor

Mindstorms 1.14 Investigator - Program Area

Mindstorms 1.15 Investigator - Data area

Mindstorms 1.16 Challenges 1. Make a car  Build a vehicle that will reliable go backwards and forwards 2. Getting there ä Using Pilot 1 - program your car to move for 1 sec ä Measure the distance it went ä Predict distance for n sec (Pilot 2 may be useful) ä Run and check model 3. Touch-activated ä Using Pilot 4 make it so your robot starts when the touch sensor is pressed and stops when it hits something ä Can you keep your robot from running off the table with a light sensor?