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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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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
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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?
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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
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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?
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Mindstorms 1.6 Agents and Environments
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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
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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
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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
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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
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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
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Mindstorms 1.12 Pilot
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Mindstorms 1.13 Inventor
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Mindstorms 1.14 Investigator - Program Area
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Mindstorms 1.15 Investigator - Data area
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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?
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