Robotics - IK
- 1. ROBOTICS ARTIFICIAL INTELLIGENT FINAL PROJECT ILGIN KAVAKLIOĞULLARI CSE - 273213005
- 3. WHAT IS ROBOTICS? Robotics is the branch of science that includes mechanical engineering, electrical engineering, computer science and others. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies are used to develop machines that can substitute for humans. Robots can be used in any situation and for any purpose, but today many are used in dangerous environments, manufacturing processes, or where humans cannot survive. Robots can take on any form but some are made to resemble humans in appearance.
- 4. WHAT IS ROBOTICS? The concept of creating machines that can operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20th century. Throughout history, it has been frequently assumed that robots will one day be able to mimic human behavior and manage tasks in a human-like fashion. Today, robotics is a rapidly growing field, as technological advances continue; researching, designing, and building new robots serve various practical purposes, whether domestically, commercially, or militarily. Many robots are built to do jobs that are hazardous to people such as defusing bombs, finding survivors in unstable ruins, and exploring mines and shipwrecks. Robotics is also used in STEM (Science, Technology, Engineering, and Mathematics) as a teaching aid.
- 5. ETYMOLOGY The word robotics was derived from the word robot, which was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum's Universal Robots), which was published in 1920. The word robot comes from the Slavic word robota, which means labour. The play begins in a factory that makes artificial people called robots, creatures who can be mistaken for humans – very similar to the modern ideas of androids. Karel Čapek himself did not coin the word. He wrote a short letter in reference to an etymology in the Oxford English Dictionary in which he named his brother Josef Čapek as its actual originator.
- 6. ETYMOLOGY According to the Oxford English Dictionary, the word robotics was first used in print by Isaac Asimov, in his science fiction short story "Liar!", published in May 1941 in Astounding Science Fiction. Asimov was unaware that he was coining the term; since the science and technology of electrical devices is electronics, he assumed robotics already referred to the science and technology of robots. In some of Asimov's other works, he states that the first use of the word robotics was in his short story Runaround (Astounding Science Fiction, March 1942). However, the original publication of "Liar!" predates that of "Runaround" by ten months, so the former is generally cited as the word's origin.
- 7. HISTORY OF ROBOTICS In 1942 the science fiction writer Isaac Asimov created his Three Laws of Robotics. In 1948 Norbert Wiener formulated the principles of cybernetics, the basis of practical robotics.
- 8. HISTORY OF ROBOTICS Fully autonomouss only appeared in the second half of the 20th century. The first digitally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them. Commercial and industrial robots are widespread today and used to perform jobs more cheaply, more accurately and more reliably, than humans. They are also employed in some jobs which are too dirty, dangerous, or dull to be suitable for humans. Robots are widely used in manufacturing, assembly, packing and packaging, transport, earth and space exploration, surgery, weaponry, laboratory research, safety, and the mass production of consumer and industrial goods.
- 11. ROBOTIC ASPECTS There are many types of robots; they are used in many different environments and for many different uses, although being very diverse in application and form they all share three basic similarities when it comes to their construction:
- 12. ROBOTIC ASPECTS Robots all have some kind of mechanical construction, a frame, form or shape designed to achieve a particular task. For example, a robot designed to travel across heavy dirt or mud, might use caterpillar tracks. The mechanical aspect is mostly the creator's solution to completing the assigned task and dealing with the physics of the environment around it. Form follows function. Robotic Construction
- 13. ROBOTIC ASPECTS Robots have electrical components which power and control the machinery. For example, the robot with caterpillar tracks would need some kind of power to move the tracker treads. That power comes in the form of electricity, which will have to travel through a wire and originate from a battery, a basic electrical circuit. Even petrol powered machines that get their power mainly from petrol still require an electric current to start the combustion process which is why most petrol powered machines like cars, have batteries. The electrical aspect of robots is used for movement (through motors), sensing (where electrical signals are used to measure things like heat, sound, position, and energy status) and operation (robots need some level of electrical energy supplied to their motors and sensors in order to activate and perform basic operations). Electrical Aspect
- 14. ROBOTIC ASPECTS All robots contain some level of computer programming code. A program is how a robot decides when or how to do something. In the caterpillar track example, a robot that needs to move across a muddy road may have the correct mechanical construction, and receive the correct amount of power from its battery, but would not go anywhere without a program telling it to move. Programs are the core essence of a robot, it could have excellent mechanical and electrical construction, but if its program is poorly constructed its performance will be very poor. There are three different types of robotic programs: remote control, artificial intelligence and hybrid.
- 15. ROBOTIC ASPECTS A robot with remote control programing has a preexisting set of commands that it will only perform if and when it receives a signal from a control source, typically a human being with a remote control. It is perhaps more appropriate to view devices controlled primarily by human commands as falling in the discipline of automation rather than robotics. Robots that use artificial intelligence interact with their environment on their own without a control source, and can determine reactions to objects and problems they encounter using their preexisting programming. Hybrid is a form of programming that incorporates both AI and RC functions.
- 16. A Level of Programming
- 17. APPLICATIONS As more and more robots are designed for specific tasks this method of classification becomes more relevant. For example, many robots are designed for assembly work, which may not be readily adaptable for other applications. They are termed as "assembly robots". For seam welding, some suppliers provide complete welding systems with the robot i.e. the welding equipment along with other material handling facilities like turntables etc. as an integrated unit. Such an integrated robotic system is called a "welding robot" even though its discrete manipulator unit could be adapted to a variety of tasks. Some robots are specifically designed for heavy load manipulation, and are labelled as "heavy duty robots."
- 18. APPLICATIONS Current and potential applications include: • Military Robots • Caterpillar plans to develop remote controlled machines and expects to develop fully autonomous heavy robots by 2021.Some cranes already are remote controlled. • It was demonstrated that a robot can perform a herding task.
- 19. APPLICATIONS • Robots are increasingly used in manufacturing (since the 1960s). In the auto industry they can amount for more than half of the "labor". There are even "lights off" factories such as an IBM keyboard manufacturing factory in Texas that is 100% automated. • Robots such as HOSPI are used as couriers in hospitals (hospital robot). Other hospital tasks performed by robots are receptionists, guides and porters helpers, • Robots can serve as waiters and cooks, also at home. Boris is a robot that can load a dishwasher.
- 20. APPLICATIONS • Robot combat for sport – hobby or sport event where two or more robots fight in an arena to disable each other. This has developed from a hobby in the 1990s to several TV series worldwide. • Cleanup of contaminated areas, such as toxic waste or nuclear facilities. • Agricultural robots (AgRobots) • Domestic robots, cleaning and caring for the elderly • Medical robots performing low-invasive surgery • Household robots with full use. • Nanorobots
- 21. COMPONENTS At present mostly (lead–acid) batteries are used as a power source. Many different types of batteries can be used as a power source for robots. They range from lead–acid batteries, which are safe and have relatively long shelf lives but are rather heavy compared to silver–cadmium batteries that are much smaller in volume and are currently much more expensive. Designing a battery-powered robot needs to take into account factors such as safety, cycle lifetime and weight. Generators, often some type of internal combustion engine, can also be used. However, such designs are often mechanically complex and need fuel, require heat dissipation and are relatively heavy. A tether connecting the robot to a power supply would remove the power supply from the robot entirely. This has the advantage of saving weight and space by moving all power generation and storage components elsewhere. However, this design does come with the drawback of constantly having a cable connected to the robot, which can be difficult to manage.
- 22. COMPONENTS Potential power sources could be: • Pneumatic (compressed gases) • Solar power (using the sun's energy and converting it into electrical power) • Hydraulics (liquids) • Flywheel energy storage • Organic garbage (through anaerobic digestion) • Nuclear
- 23. COMPONENTS Actuation Actuators are the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors that rotate a wheel or gear, and linear actuators that control industrial robots in factories. There are some recent advances in alternative types of actuators, powered by electricity, chemicals, or compressed air.
- 24. ACTUATION • Electric Motors • Linear Actuators • Series Elastic Actuators • Air Muscles • Muscle Wire • Electroactive Polymers • Piezo Motors A robotic leg powered by air muscles • Elastic Nanotubes • Sensing • Touch • Vision • Others(Radar,Sonar,Lidar etc.)
- 25. MANIPULATION Robots need to manipulate objects; pick up, modify, destroy, or otherwise have an effect. Thus the "hands" of a robot are often referred to as end effectors, while the "arm" is referred to as a manipulator. Most robot arms have replaceable effectors, each allowing them to perform some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few have one very general purpose manipulator, for example a humanoid hand. Learning how to manipulate a robot often requires a close feedback between human to the robot, although there are several methods for remote manipulation of robots. *Mechanical Grippers, Vacuum Grippers, General Purpose Effectors.
- 26. LOCOMOTION • Rolling Robots • Two-Wheeled Balancing Robots • One-Wheeled Balancing Robots • Spherical Orb Robots • Six-Wheeled Robots • Tracked Robots
- 27. KUKA industrial robot operating in a foundry Baxter, a modern and versatile industrial robot developed by Rodney Brooks Segway in the Robot museum in Nagoya Puma, one of the first industrial robots
- 28. LOCOMOTION • Walking Applied To Robots • The Zero Moment Point (ZMP) Techniques • Hopping • Dynamic Balancing • Passive Dynamics
- 29. OTHER METHODS OF LOCOMOTION • Flying • Snaking • Skating • Climbing • Swimming (Piscine) • Sailing
- 30. ENVIRONMENTAL INTERACTION AND NAVIGATION Though a significant percentage of robots in commission today are either human controlled, or operate in a static environment, there is an increasing interest in robots that can operate autonomously in a dynamic environment. These robots require some combination of navigation hardware and software in order to traverse their environment. In particular unforeseen events (e.g. people and other obstacles that are not stationary) can cause problems or collisions. Some highly advanced robots such as ASIMO, and Meinü robot have particularly good robot navigation hardware and software. Also, self-controlled cars, Ernst Dickmanns' driverless car, and the entries in the DARPA Grand Challenge, are capable of sensing the environment well and subsequently making navigational decisions based on this information. Most of these robots employ a GPS navigation device with waypoints, along with radar, sometimes combined with other sensory data such as lidar, video cameras, and inertial guidance systems for better navigation between waypoints.
- 31. Radar, GPS, and lidar, are all combined to provide proper navigation and obstacle avoidance (vehicle developed for 2007 DARPA Urban Challenge)
- 32. ENVIRONMENTAL INTERACTION AND NAVIGATION Human-Robot Interaction The state of the art in sensory intelligence for robots will have to progress through several orders of magnitude if we want the robots working in our homes to go beyond vacuum-cleaning the floors. If robots are to work effectively in homes and other non-industrial environments, the way they are instructed to perform their jobs, and especially how they will be told to stop will be of critical importance. The people who interact with them may have little or no training in robotics, and so any interface will need to be extremely intuitive. Science fiction authors also typically assume that robots will eventually be capable of communicating with humans through speech, gestures, and facial expressions, rather than a command-line interface. Although speech would be the most natural way for the human to communicate, it is unnatural for the robot. It will probably be a long time before robots interact as naturally as the fictional C-3PO, or Data of Star Trek, Next Generation.
- 33. HUMAN-ROBOT INTERACTION • Speech Recognition • Robotic Voice • Gestures • Facial expression • Artificial Emotions • Personality • Social Intelligence Kismet can produce a range of facial expressions.
- 34. CONTROL The mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases – perception, processing, and action. Sensors give information about the environment or the robot itself. This information is then processed to be stored or transmitted, and to calculate the appropriate signals to the actuators which move the mechanical. The processing phase can range in complexity. At a reactive level, it may translate raw sensor information directly into actuator commands. Sensor fusion may first be used to estimate parameters of interest from noisy sensor data. An immediate task is inferred from these estimates. Techniques from control theory convert the task into commands that drive the actuators.
- 35. CONTROL At longer time scales or with more sophisticated tasks, the robot may need to build and reason with a "cognitive" model. Cognitive models try to represent the robot, the world, and how they interact. Pattern recognition and computer vision can be used to track objects. Mapping techniques can be used to build maps of the world. Finally, motion planning and other artificial intelligence techniques may be used to figure out how to act. For example, a planner may figure out how to achieve a task without hitting obstacles, falling over, etc.
- 36. CONTROL Autonomy Levels Control systems may also have varying levels of autonomy. • Direct interaction is used for haptic or tele-operated devices, and the human has nearly complete control over the robot's motion. • Operator-assist modes have the operator commanding medium-to-high-level tasks, with the robot automatically figuring out how to achieve them. • An autonomous robot may go for extended periods of time without human interaction. Higher levels of autonomy do not necessarily require more complex cognitive capabilities. For example, robots in assembly plants are completely autonomous, but operate in a fixed pattern.
- 37. CONTROL Another classification takes into account the interaction between human control and the machine motions. • Teleoperation. A human controls each movement, each machine actuator change is specified by the operator. • Supervisory. A human specifies general moves or position changes and the machine decides specific movements of its actuators. • Task-level autonomy. The operator specifies only the task and the robot manages itself to complete it. • Full autonomy. The machine will create and complete all its tasks without human interaction.
- 38. CONTROL Puppet Magnus, a robot-manipulated marionette with complex control systems. RuBot II can resolve manually Rubik cubes. TOPIO, a humanoid robot, played ping pong at Tokyo IREX 2009.
- 39. ROBOTICS RESEARCH Much of the research in robotics focuses not on specific industrial tasks, but on investigations into new types of robots, alternative ways to think about or design robots, and new ways to manufacture them but other investigations, such as MIT's cyberflora project, are almost wholly academic. A first particular new innovation in robot design is the opensourcing of robot-projects. To describe the level of advancement of a robot, the term "Generation Robots" can be used. This term is coined by Professor Hans Moravec, Principal Research Scientist at the Carnegie Mellon University Robotics Institute in describing the near future evolution of robot technology.
- 40. ROBOTICS RESEARCH First generation robots, Moravec predicted in 1997, should have an intellectual capacity comparable to perhaps a lizard and should become available by 2010. Because the first generation robot would be incapable of learning, however, Moravec predicts that the second generation robot would be an improvement over the first and become available by 2020, with the intelligence maybe comparable to that of a mouse. The third generation robot should have the intelligence comparable to that of a monkey. Though fourth generation robots, robots with human intelligence, professor Moravec predicts, would become possible, he does not predict this happening before around 2040 or 2050.
- 41. ROBOTICS RESEARCH The second is evolutionary robots. This is a methodology that uses evolutionary computation to help design robots, especially the body form, or motion and behavior controllers. In a similar way to natural evolution, a large population of robots is allowed to compete in some way, or their ability to perform a task is measured using a fitness function. Those that perform worst are removed from the population, and replaced by a new set, which have new behaviors based on those of the winners. Over time the population improves, and eventually a satisfactory robot may appear. This happens without any direct programming of the robots by the researchers. Researchers use this method both to create better robots, and to explore the nature of evolution. Currently, there are about 10 million industrial robots toiling around the world, and Japan is the top country having high density of utilizing robots in its manufacturing industry.
- 42. EDUCATION AND TRAINING Robotics engineers design robots, maintain them, develop new applications for them, and conduct research to expand the potential of robotics. Robots have become a popular educational tool in some middle and high schools, particularly in parts of the USA, as well as in numerous youth summer camps, raising interest in programming, artificial intelligence and robotics among students. First-year computer science courses at some universities now include programming of a robot in addition to traditional software engineering-based coursework.
- 43. EMPLOYMENT Robotics is an essential component in many modern manufacturing environments. As factories increase their use of robots, the number of robotics–related jobs grow and have been observed to be steadily rising. The employment of robots in industries has increased productivity and efficiency savings and is typically seen as a long term investment for benefactors.
- 44. OCCUPATIONAL SAFETY AND HEALTH IMPLICATIONS OF ROBOTICS A discussion paper drawn up by EU-OSHA highlights how the spread of robotics presents both opportunities and challenges for occupational safety and health (OSH). The greatest OSH benefits stemming from the wider use of robotics should be substitution for people working in unhealthy or dangerous environments. In space, defence, security, or the nuclear industry, but also in logistics, maintenance and inspection, autonomous robots are particularly useful in replacing human workers performing dirty, dull or unsafe tasks, thus avoiding workers’ exposures to hazardous agents and conditions and reducing physical, ergonomic and psychosocial risks. For example, robots are already used to perform repetitive and monotonous tasks, to handle radioactive material or to work in explosive atmospheres. In the future, many other highly repetitive, risky or unpleasant tasks will be performed by robots in a variety of sectors like agriculture, construction, transport, healthcare, firefighting or cleaning services.
- 45. OCCUPATIONAL SAFETY AND HEALTH IMPLICATIONS OF ROBOTICS Despite these advances, there are certain skills to which humans will be better suited than machines for some time to come and the question is how to achieve the best combination of human and robot skills. The advantages of robotics include heavy-duty jobs with precision and repeatability, whereas the advantages of humans include creativity, decision-making, flexibility and adaptability. This need to combine optimal skills has resulted in collaborative robots and humans sharing a common workspace more closely and led to the development of new approaches and standards to guarantee the safety of the “man-robot merger”. Some European countries are including robotics in their national programmes and trying to promote a safe and flexible co-operation between robots and operators to achieve better productivity. For example, the German Federal Institute for Occupational Safety and Health (BAuA) organises annual workshops on the topic “human-robot collaboration”. In future, co-operation between robots and humans will be diversified, with robots increasing their autonomy and human-robot collaboration reaching completely new forms. Current approaches and technical standards aiming to protect employees from the risk of working with collaborative robots will have to be revised.