Introduction to Robotics 2
Total Page:16
File Type:pdf, Size:1020Kb
Load more
Recommended publications
-
Introduction to Robotics. Sensors and Actuators
Introduction to Computer Vision and Robotics Florian Teich and Tomas Kulvicius* Introduction to Robotics. Sensors and Actuators Large portion of slides are adopted from Florentin Wörgötter, John Hallam and Simon Reich *[email protected] Perception-Action loop Environment Object Eyes Action Perception Arm Brain Perception-Action loop (cont.) Environment Sense Object Cameras Action Perception Robot-arm Computer Act Plan Outline of the course • L1.CV1: Introduction to Computer Vision. Thresholding, Filtering & Connected Coomponents • L2.CV2: Bilateral Filtering, Morphological Operators & Edge Detection • L3.CV3: Corner Detection & Non-Local Filtering • L4.R1: Introduction to Robotics. Sensors and actuators • L5.R2: Movement generation methods • L6.R3: Path planning algorithms • L7.CV4: Line/Circle Detection, Template Matching & Feature Detection • L8.CV5: Segmentation • L9.CV6: Fate Detection, Pedestrian Tracking & Computer Vision in 3D • L10.R4: Robot kinematics and control • L11.R5: Learning algorithms in robotics I: Supervised and unsupervised learning • L12.R6: Learning algorithms in robotics II: Reinforcement learning and genetic algorithms Introduction to Robotics History of robotics • Karel Čapek was one of the most influential Czech writers of the 20th century and a Nobel Prize nominee (1936). • He introduced and made popular the frequently used international word robot, which first appeared in his play R.U.R. (Rossum's Universal Robots) in 1921. 1890-1938 • “Robot” comes from the Czech word “robota”, meaning “forced labor” • Karel named his brother Josef Čapek as the true inventor of the word robot. History of robotics (cont.) • The word "robotics" also comes from science fiction - it first appeared in the short story "Runaround" (1942) by American writer Isaac Asimov. -
Improved Design of a Three-Degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure
Improved Design of a Three-degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure by Min Pan A Thesis Submitted in Partial Fulfillment of the requirements for the Degree of Master of Applied Science in The Faculty of Engineering and Applied Science Mechanical Engineering Program University of Ontario Institute of Technology July, 2011 © Min Pan, 2011 Abstract The external skeletons, Exoskeletons, are not a new research area in this highly developed world. They are widely used in helping the wearer to enhance human strength, endurance, and speed while walking with them. Most exoskeletons are designed for the whole body and are powered due to their applications and high performance needs. This thesis introduces a novel design of a three-degree of freedom parallel robotic structured hip exoskeleton, which is quite different from these existing exoskeletons. An exoskeleton unit for walking typically is designed as a serial mechanism which is used for the entire leg or entire body. This thesis presents a design as a partial manipulator which is only for the hip. This has better advantages when it comes to marketing the product, these include: light weight, easy to wear, and low cost. Furthermore, most exoskeletons are designed for lower body are serial manipulators, which have large workspace because of their own volume and occupied space. This design introduced in this thesis is a parallel mechanism, which is more stable, stronger and more accurate. These advantages benefit the wearers who choose this product. This thesis focused on the analysis of the structure of this design, and verifies if the design has a reasonable and reliable structure. -
Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation Melissa Morris Florida International University, [email protected]
Florida International University FIU Digital Commons FIU Electronic Theses and Dissertations University Graduate School 4-21-2017 Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation Melissa Morris Florida International University, [email protected] DOI: 10.25148/etd.FIDC001981 Follow this and additional works at: https://digitalcommons.fiu.edu/etd Part of the Acoustics, Dynamics, and Controls Commons, Biomechanical Engineering Commons, and the Electro-Mechanical Systems Commons Recommended Citation Morris, Melissa, "Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation" (2017). FIU Electronic Theses and Dissertations. 3350. https://digitalcommons.fiu.edu/etd/3350 This work is brought to you for free and open access by the University Graduate School at FIU Digital Commons. It has been accepted for inclusion in FIU Electronic Theses and Dissertations by an authorized administrator of FIU Digital Commons. For more information, please contact [email protected]. FLORIDA INTERNATIONAL UNIVERSITY Miami, Florida ROBOT CONTROL FOR REMOTE OPHTHALMOLOGY AND PEDIATRIC PHYSICAL REHABILITATION A dissertation submitted in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY in MECHANICAL ENGINEERING by Melissa Morris 2017 To: Interim Dean Ranu Jung, College of Engineering and Computing This dissertation, written by Melissa Morris, and entitled Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation, having been approved in respect to style and intellectual content, is referred to you for judgment. We have read this dissertation and recommend that it be approved. ______________________________ Benjamin Boesl ______________________________ Yiding Cao ______________________________ Leonard Elbaum ______________________________ Oren Masory ______________________________ Ibrahim Tansel ______________________________ Sabri Tosunoglu, Major Professor Date of Defense: April 21, 2017 The dissertation of Melissa Morris is approved. -
AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies. -
History of Robotics: Timeline
History of Robotics: Timeline This history of robotics is intertwined with the histories of technology, science and the basic principle of progress. Technology used in computing, electricity, even pneumatics and hydraulics can all be considered a part of the history of robotics. The timeline presented is therefore far from complete. Robotics currently represents one of mankind’s greatest accomplishments and is the single greatest attempt of mankind to produce an artificial, sentient being. It is only in recent years that manufacturers are making robotics increasingly available and attainable to the general public. The focus of this timeline is to provide the reader with a general overview of robotics (with a focus more on mobile robots) and to give an appreciation for the inventors and innovators in this field who have helped robotics to become what it is today. RobotShop Distribution Inc., 2008 www.robotshop.ca www.robotshop.us Greek Times Some historians affirm that Talos, a giant creature written about in ancient greek literature, was a creature (either a man or a bull) made of bronze, given by Zeus to Europa. [6] According to one version of the myths he was created in Sardinia by Hephaestus on Zeus' command, who gave him to the Cretan king Minos. In another version Talos came to Crete with Zeus to watch over his love Europa, and Minos received him as a gift from her. There are suppositions that his name Talos in the old Cretan language meant the "Sun" and that Zeus was known in Crete by the similar name of Zeus Tallaios. -
Modeling, Simulation, and Vision-/MPC-Based Control of a Powercube Serial Robot
applied sciences Article Modeling, Simulation, and Vision-/MPC-Based Control of a PowerCube Serial Robot Jörg Fehr * , Patrick Schmid , Georg Schneider and Peter Eberhard Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany; [email protected] (P.S.); [email protected] (G.S.); [email protected] (P.E.) * Correspondence: [email protected] Received: 21 September 2020; Accepted: 12 October 2020; Published: 17 October 2020 Featured Application: The vision-based measurement of a robot’s pose investigated in this contribution is especially applicable for multi-link flexible robotic manipulators, where joint angles measured by encoders are not sufficient to describe the system’s state because of the elastic deformation of the links. The proposed MPC control scheme reveals advantages compared to common decentralized approaches concerning parameter tuning, constraint handling, and compensation of model uncertainties. Abstract: A model predictive control (MPC) scheme for a Schunk PowerCube robot is derived in a structured step-by-step procedure. Neweul-M2 provides the necessary nonlinear model in symbolical and numerical form. To handle the heavy online computational burden concerning the derived nonlinear model, a linear time-varying MPC scheme is developed based on linearizing the nonlinear system concerning the desired trajectory and the a priori known corresponding feed-forward controller. Camera-based systems allow sensing of the robot on the one hand and monitoring the environments on the other hand. Therefore, a vision-based MPC is realized to show the effects of vision-based control feedback on control performance. -
Robot Control and Programming: Class Notes Dr
NAVARRA UNIVERSITY UPPER ENGINEERING SCHOOL San Sebastian´ Robot Control and Programming: Class notes Dr. Emilio Jose´ Sanchez´ Tapia August, 2010 Servicio de Publicaciones de la Universidad de Navarra 987‐84‐8081‐293‐1 ii Viaje a ’Agra de Cimientos’ Era yo todav´ıa un estudiante de doctorado cuando cayo´ en mis manos una tesis de la cual me llamo´ especialmente la atencion´ su cap´ıtulo de agradecimientos. Bueno, realmente la tesis no contaba con un cap´ıtulo de ’agradecimientos’ sino mas´ bien con un cap´ıtulo alternativo titulado ’viaje a Agra de Cimientos’. En dicho capitulo, el ahora ya doctor redacto´ un pequeno˜ cuento epico´ inventado por el´ mismo. Esta pequena˜ historia relataba las aventuras de un caballero, al mas´ puro estilo ’Tolkiano’, que cabalgaba en busca de un pueblo recondito.´ Ya os podeis´ imaginar que dicho caballero, no era otro sino el´ mismo, y que su viaje era mas´ bien una odisea en la cual tuvo que superar mil y una pruebas hasta conseguir su objetivo, llegar a Agra de Cimientos (terminar su tesis). Solo´ deciros que para cada una de esas pruebas tuvo la suerte de encontrar a una mano amiga que le ayudara. En mi caso, no voy a presentarte una tesis, sino los apuntes de la asignatura ”Robot Control and Programming´´ que se imparte en ingles.´ Aunque yo no tengo tanta imaginacion´ como la de aquel doctorando para poder contaros una historia, s´ı que he tenido la suerte de encontrar a muchas personas que me han ayudado en mi viaje hacia ’Agra de Cimientos’. Y eso es, amigo lector, al abrir estas notas de clase vas a ser testigo del final de un viaje que he realizado de la mano de mucha gente que de alguna forma u otra han contribuido en su mejora. -
Report of Comest on Robotics Ethics
SHS/YES/COMEST-10/17/2 REV. Paris, 14 September 2017 Original: English REPORT OF COMEST ON ROBOTICS ETHICS Within the framework of its work programme for 2016-2017, COMEST decided to address the topic of robotics ethics building on its previous reflection on ethical issues related to modern robotics, as well as the ethics of nanotechnologies and converging technologies. At the 9th (Ordinary) Session of COMEST in September 2015, the Commission established a Working Group to develop an initial reflection on this topic. The COMEST Working Group met in Paris in May 2016 to define the structure and content of a preliminary draft report, which was discussed during the 9th Extraordinary Session of COMEST in September 2016. At that session, the content of the preliminary draft report was further refined and expanded, and the Working Group continued its work through email exchanges. The COMEST Working Group then met in Quebec in March 2017 to further develop its text. A revised text in the form of a draft report was submitted to COMEST and the IBC in June 2017 for comments. The draft report was then revised based on the comments received. The final draft of the report was further discussed and revised during the 10th (Ordinary) Session of COMEST, and was adopted by the Commission on 14 September 2017. This document does not pretend to be exhaustive and does not necessarily represent the views of the Member States of UNESCO. – 2 – REPORT OF COMEST ON ROBOTICS ETHICS EXECUTIVE SUMMARY I. INTRODUCTION II. WHAT IS A ROBOT? II.1. The complexity of defining a robot II.2. -
Robots and Healthcare Past, Present, and Future
ROBOTS AND HEALTHCARE PAST, PRESENT, AND FUTURE COMPILED BY HOWIE BAUM What do you think of when you hear the word “robot”? 2 Why Robotics? Areas that robots are used: Industrial robots Military, government and space robots Service robots for home, healthcare, laboratory Why are robots used? Dangerous tasks or in hazardous environments Repetitive tasks High precision tasks or those requiring high quality Labor savings Control technologies: Autonomous (self-controlled), tele-operated (remote control) 3 The term “robot" was first used in 1920 in a play called "R.U.R." Or "Rossum's universal robots" by the Czech writer Karel Capek. The acclaimed Czech playwright (1890-1938) made the first use of the word from the Czech word “Robota” for forced labor or serf. Capek was reportedly several times a candidate for the Nobel prize for his works and very influential and prolific as a writer and playwright. ROBOTIC APPLICATIONS EXPLORATION- – Space Missions – Robots in the Antarctic – Exploring Volcanoes – Underwater Exploration MEDICAL SCIENCE – Surgical assistant Health Care ASSEMBLY- factories Parts Handling - Assembly - Painting - Surveillance - Security (bomb disposal, etc) - Home help (home sweeping (Roomba), grass cutting, or nursing) 7 Isaac Asimov, famous write of Science Fiction books, proposed his three "Laws of Robotics", and he later added a 'zeroth law'. Law Zero: A robot may not injure humanity, or, through inaction, allow humanity to come to harm. Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. Law Two: A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law. -
Dr. Asimov's Automatons
Dr. Asimov’s Automatons Take on a Life of their Own Twenty years after his death, author Isaac Asimov’s robot fiction offers a blueprint to our robotic future...and the problems we could face by Alan S. Brown HIS PAST April, the University of Miami School These became the Three Laws. Today, they are the starting of Law held We Robot, the first-ever legal and point for any serious conversation about how humans and policy issues conference about robots. The name robots will behave around one another. of the conference, which brought together lawyers, As the mere fact of lawyers discussing robot law shows, engineers, and technologists, played on the title the issue is no longer theoretical. If robots are not yet of the most famous book intelligent, they are increasingly t ever written about robots, autonomous in how they carry out I, Robot, by Isaac Asimov. tasks. At the most basic level, every The point was underscored by day millions of robotic Roombas de- Laurie Silvers, president of Holly- cide how to navigate tables, chairs, wood Media Corp., which sponsored sofas, toys, and even pets as they the event. In 1991, Silvers founded vacuum homes. SyFy, a cable channel that specializ- At a more sophisticated level, es in science fiction. Within moments, autonomous robots help select in- she too had dropped Asimov’s name. ventory in warehouses, move and Silvers turned to Asimov for ad- position products in factories, and vice before launching SyFy. It was a care for patients in hospitals. South natural choice. Asimov was one of the Korea is testing robotic jailers. -
The Robot's Knowledge Lecture 1
Logic, Ontology and Planning: the Robot’s Knowledge Lecture 1 Stefano Borgo Laboratory for Applied Ontology (LOA), ISTC-CNR, Trento (IT) ESSLLI course 2018 Sofia, Bulgaria Scope of the course Robotics: traditional, yet rapidly expanding, research area. It design and develops intelligent autonomous agents like self-driving cars and drones, industrial robots for production, and humanoids for the elderly. This course focuses on the knowledge a robot needs to act in the environment and to understand what it can possibly do. It introduces and discusses the notions and relationships that are needed to understand a generic scenario and shows how to structure an ontology to organize such knowledge. In particular, it focuses on how to understand and model capacities, actions, contexts and environments. The flow of information between the knowledge module and the planning module in a generic artificial agent is presented. S. Borgo (LOA ISTC-CNR Trento) The Robot’s Knowledge - Lecture 1 ESSLLI – Sofia, 2018 2 / 55 Organization of the lectures (roughly) Lecture 1: Introduction to robotics – what is robotics about? what is an agent? what are the robot’s components? Lecture 2: Introduction to ontology – what is an ontology? what is the purpose of ontology? how is an ontology structured? S. Borgo (LOA ISTC-CNR Trento) The Robot’s Knowledge - Lecture 1 ESSLLI – Sofia, 2018 3 / 55 Organization of the lectures (roughly) Lecture 3: Basic cognition, image schemas and affordance – what is concept creation? what is concept blending? what are image schemas? why do we need them? Lecture 4: Scenario interpretation, context and knowledge integration – how should one interpret a scenario? how should one distinguish ontological and contextual information? how is heterogeneous information integrated? S. -
The Three Laws of Robotics Machine Ethics (Or Machine Morality) Is A
The Three Laws of Robotics Machine ethics (or machine morality) is a part of the ethics of AI concerned with the moral behavior of artificially intelligent beings. Machine ethics contrasts with roboethics, which is concerned with the moral behavior of humans as they design, construct, use and treat such beings. Machine ethics should not be confused with computer ethics, which focuses on professional behavior towards computers and information. Isaac Asimov considered the issue in the 1950s in his novel: I, Robot. He proposed the Three Laws of Robotics to govern artificially intelligent systems. Much of his work was then spent testing the boundaries of his three laws to see where they would break down, or where they would create paradoxical or unanticipated behavior. His work suggests that no set of fixed laws can sufficiently anticipate all possible circumstances. Asimov’s laws are still mentioned as a template for guiding our development of robots ; but given how much robotics has changed, since they appeared, and will continue to grow in the future, we need to ask how these rules could be updated for a 21st century version of artificial intelligence. Asimov’s suggested laws were devised to protect humans from interactions with robots. They are: A robot may not injure a human being or, through inaction, allow a human being to come to harm A robot must obey the orders given 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 Laws As mentioned, one of the obvious issues is that robots today appear to be far more varied than those in Asimov’s stories, including some that are far more simple.