INDUSTRIAL ROBOTICS AND

EXPERT SYSTEMS

robot: (noun)

What is a robot

Jacques de Vaucanson
(1709-1782)
Master toy maker who won the
heart of Europe.
Flair for inventing the
mechanical revealed itself early
in life.
He was impressed by the
uniform motion of the pendulum
of the clock in his parents hall.
Soon he was making his own
clock movements.

The Origins of Robots

Mechanical horse

Pre-History of Real-World
Robots:
The earliest remote control vehicles were built
by Nikola Tesla in the 1890's.
Tesla is best known as the inventor of AC
power, induction motors, Tesla coils, and other
electrical devices.

Robots
of the
media

Popular culture influenced by these

ideas

History of Robotics?
RUR
Metropolis(1927)
Forbidden planet(1956)
2001 A Space Odyssey(1968)
Logans Run(1976)
Aliens(1986)

The U.S. military

contracted the "walking
truck" to be built by the
General Electric
Company for the U.S.
Army in 1969.

Walking robots

Unmanned Ground Vehicles

Three categories:
Mobile
Humanoid/animal
Motes

Famous examples

DARPA Grand Challenge

NASA MER
Roomba
Honda P3, Sony Asimo
Sony Aibo

Unmanned Aerial Vehicles

Three categories:
Fixed wing
VTOL
Micro aerial vehicle (MAV),
which can be either fixed
wing or VTOL

Famous examples
Global Hawk
Predator
UCAV

Autonomous Underwater Vehicles

Categories
Remotely operated vehicles
(ROVs), which are tethered
Autonomous underwater vehicles,
which are free swimming

Examples
Persephone
Jason (Titanic)
Hugin

Discussion of Ethics and

Philosophy in Robotics
Can robots become conscious?
Is there a problem with using robots in military
applications?
How can we ensure that robots do not harm
people?
Isaac Asimovs Three Laws of Robotics

Isaac Asimov and Joe

Engleberger
Two fathers
of robotics
Engleberger
built first
robotic arms

Asimovs Laws of Robotics

First law (Human safety):
A robot may not injure a human being, or, through inaction, allow
a human being to come to harm.
Second law (Robots are slaves):
A robot must obey orders given it by human beings, except where
such orders would conflict with the First Law.
Third law (Robot survival):
A robot must protect its own existence as long as such protection
does not conflict with the First or Second Law.
These laws are simple and straightforward, and they embrace the essential
guiding principles of a good many of the worlds ethical systems.
But: They are extremely difficult to implement

The Advent of Industrial Robots -

Robot Arms
There is a lot of motivation to use robots
to perform task which would otherwise
be performed by humans:
Safety
Efficiency
Reliability
Worker Redeployment
Cheaper

Industrial Robot Defined

A general-purpose, programmable machine possessing
certain anthropomorphic characteristics
Hazardous work environments
Repetitive work cycle
Consistency and accuracy
Difficult handling task for humans
Multishift operations
Reprogrammable, flexible
Interfaced to other computer systems

What are robots made of?

Effectors:
Manipulation

Degrees of Freedom

Robot Anatomy

Manipulator consists of joints and links

Joints provide relative motion
Links are rigid members between joints
Various joint types: linear and rotary
Each joint provides a degree-of-freedom
Most robots possess five or six degrees-offreedom
Robot manipulator consists of two sections:
Body-and-arm for positioning of objects
in the robot's work volume
Wrist assembly for orientation of objects

Joint3

Link3
End of Arm

Link2
Link1
Joint2
Joint1
Link0
Base

Manipulator Joints
Translational motion
Linear joint (type L)
Orthogonal joint (type O)

Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)

Polar Coordinate
Body-and-Arm Assembly
Notation TRL:

Consists of a sliding arm (L joint) actuated relative to the body, which

can rotate about both a vertical axis (T joint) and horizontal axis (R
joint)

Cylindrical Body-and-Arm
Assembly
Notation TLO:
Consists of a vertical
column, relative to which
an arm assembly is moved
up or down
The arm can be moved in or
out relative to the column

Cartesian Coordinate
Body-and-Arm Assembly
Notation LOO:
Consists of three sliding
joints, two of which are
orthogonal
Other names include
rectilinear robot and x-y-z
robot

Jointed-Arm Robot

Notation TRR:

SCARA Robot
Notation VRO
SCARA stands for Selectively
Compliant Assembly Robot
Arm
Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints to be compliant in
horizontal direction for vertical
insertion tasks

Wrist Configurations
Wrist assembly is attached to end-of-arm
End effector is attached to wrist assembly
Function of wrist assembly is to orient end effector
Body-and-arm determines global position of end effector

Two or three degrees of freedom:

Roll
Pitch
Yaw

Notation :RRT

An Introduction to
Robot Kinematics

Renata Melamud

Kinematics studies the motion of bodies

An Example - The PUMA 560

4
1

There are two more

joints on the end
effector (the
gripper)

The PUMA 560 has SIX revolute joints

A revolute joint has ONE degree of freedom ( 1 DOF) that is
defined by its angle

Other basic joints

Revolute Joint
1 DOF ( Variable - )

Prismatic Joint
1 DOF (linear) (Variables - d)

Spherical Joint
3 DOF ( Variables - 1, 2, 3)

We are interested in two kinematics topics

Forward Kinematics (angles to position)
What you are given:

The length of each link

The angle of each joint

What you can find:

The position of any point

(i.e. its (x, y, z) coordinates

Inverse Kinematics (position to angles)

What you are given:

The length of each link

The position of some point on the robot

What you can find:

The angles of each joint needed to obtain

that position

Quick Math Review

Dot Product:

ax
a
y

Geometric Representation:

A B A B cos

Matrix Representation:

bx
b
y

ax bx
AB

a xb x a y b y

ay by

Unit Vector
Vector in the direction of a chosen vector but whose magnitude is 1.

B
uB
B

B
uB

Quick Matrix Review

Matrix Multiplication:
An (m x n) matrix A and an (n x p) matrix B, can be multiplied since
the number of columns of A is equal to the number of rows of B.
Non-Commutative Multiplication
AB is NOT equal to BA

a b e
c d g

f ae bg

h ce dg

af bh
cf dh

Matrix Addition:
a b e
c d g

f a e

h c g

b f
d h

Basic Transformations
Moving Between Coordinate Frames
Translation Along the X-Axis
Y

O
(VN,VO)

NO

XY

P
X

Px
Px = distance between the XY and NO coordinate planes
Notation:

XY

VX
Y

NO

VN
O

Px
P

VO

Writing V XY in terms of V NO
Y

NO

VX

P
X

V XY

VN

PX V N
NO

O
V

VO
N

Translation along the X-Axis and Y-Axis

Y
NO

V
Y

VX

PX
X

V XY P V NO

PX V N

O
P

V
Y

XY

Px

PY

VO

Using Basis Vectors

Basis vectors are unit vectors that point along a coordinate axis
O

n
o

Unit vector along the N-Axis

Unit vector along the N-Axis

V NO

Magnitude of the VNO vector

NO

V NO

VO

VN

NO
V NO cos V NO n
V N V cos
O
NO
NO
NO
V V sin V cos(90 ) V o

Rotation (around the Z-Axis)

Y

VY
N

VX

= Angle of rotation between the XY and NO coordinate axis

V XY

VX
Y

V NO

VN
O

Unit vector along X-Axis

Can be considered with respect to

the XY coordinates or NO coordinates
O

V XY

V NO

VY

VX

V X V XY cos V NO cos V NO x

(V n V o ) x
N

(Substituting for VNO using the N and O

components of the vector)

V X V N (x n ) V O (x o)
V N (cos) V O (cos( 90))
V N (cos) V O (sin)

Similarly.

V Y V NO sin V NO cos(90 ) V NO y

V Y (V N n V O o ) y
V Y V N (y n ) V O (y o )
V N (cos(90 )) V O (cos)
V N (sin) V O (cos)
So.

V V (cos) V (sin)
V Y V N (sin) V O (cos)
X

VX

V XY

Written in Matrix Form

XY

V X cos sin
Y

sin
cos
V

VN
O
V

Rotation Matrix about the z-axis

Y1
(VN,VO)

Y0

VNO

VXY

X1

Translation along P followed by rotation by

X0

XY

Px
cos
Y

P
sin
V
y
VX

sin V N

cos V O

(Note : Px, Py are relative to the original coordinate frame. Translation followed by
rotation is different than rotation followed by translation.)

In other words, knowing the coordinates of a point (V N,VO) in some coordinate

frame (NO) you can find the position of that point relative to your original
coordinate frame (X0Y0).

HOMOGENEOUS REPRESENTATION
Putting it all into a Matrix

XY

Px
cos
Y

P
sin
V
y

sin V N

cos V O

VX

VX

V
1

VX

VY
1

cos
H sin
0

sin

Px
cos
Py sin
1
0
cos
sin
0
sin
cos
0

cos
0

sin
cos
0

What we found by doing a

translation and a rotation

0 V N

0 V O
1 1

Px V N

Py V O
1 1

Padding with 0s and 1s

Simplifying into a matrix form

Px

Py
1

Homogenous Matrix for a Translation in

XY plane, followed by a Rotation around
the z-axis

Rotation Matrices in 3D OK,lets return from

homogenous repn

cos
R z sin
0

sin
cos

cos
R y
0
sin
1
R z 0
0

0
cos
sin

0
0
1
0

0
0

Rotation around the Z-Axis

sin
0

Rotation around the Y-Axis

cos
0
sin
cos

Rotation around the X-Axis

Homogeneous Matrices in 3D
H is a 4x4 matrix that can describe a translation, rotation, or both in one matrix
O
Y
N

P
X

Translation without rotation

1
0
H
0

0
1
0
0

0 Px
0 Py
1 Pz

0 1

Z
Y
O

N
X
Z
A

Rotation without translation

nx
n
y
nz

ox
oy

ax
ay

oz
0

az
0

0
0

Rotation part:
Could be rotation around z-axis,
x-axis, y-axis or a combination of
the three.

Homogeneous Continued.

V XY

XY

VN
O
V
H A
V

nx
n
y
nz

ox
oy
oz
0

The (n,o,a) position of a point relative to the current

coordinate frame you are in.

ax
ay
az
0

Px
Py
Pz

VN
O
V
VA

V X n x V N o x V O a x V A Px

The rotation and translation part can be combined into a single homogeneous
matrix IF and ONLY IF both are relative to the same coordinate frame.

Finding the Homogeneous Matrix

EX.

WN
O
W
WA

T
P

X
Z
WX
Y
W
WZ

WI

Point relative to the

X-Y-Z frame

W
WK

Pi n i
Pj n j
Pk n k

oi
oj
ok

J
W

K
W

WN

Point relative to the

I-J-K frame

ai W

a j W O
a k W A
N

WI

O
W

A
W

ni
n
j

J
W

W K nk

1 0

Point relative to the

N-O-A frame

oi

ai

oj

aj

ok

ak

Pi

Pj
Pk

1

WN

WO
WA
1

WN

O
W
WA

T
X

P
A

W
X

Y
W

Z
W

Tx i x
Ty i y
Tz i z

kx W

k y W J
k z W k

jx
jy
jz

WX

Substituting for W
WK

WX

ix
i
y

Y
W

WZ iz

1 0

ix
i
y

Y
W

Z
W iz

jx

kx

jy

ky

jz

kz

Tx
Ty
Tz

1

Tx

Ty
Tz

1

jx

kx

jy

ky

jz

kz

Pi

Pj
Pk

1

ni

oi

ai

nj

oj

aj

nk

ok

ak

WI

WJ

WK

WN

WO
WA
1

 WX

WN

Y
O
W
W

WZ
WA

1
1

ix
i
y

kx

jy

ky

iz

jz

kz

jx

Tx
Ty
Tz

1

Pi

ni

oi

ai

nj

oj

aj

nk

ok

ak

Pk

Pj

Product of the two matrices

Notice that H can also be written as:

1 0 0 Tx i x
0 1 0 T i
y y
H
0 0 1 Tz i z

0
0
0
1

jx

kx

jy

ky

jz

kz

0 1
0 0
0 0

1 0

Pi n i
1 0 Pj n j
0 1 Pk n k

0 0 1 0
0 0

oi

ai

oj

aj

ok

ak

0
0
0

H = (Translation relative to the XYZ frame) * (Rotation relative to the XYZ frame)
* (Translation relative to the IJK frame) * (Rotation relative to the IJK frame)

The Homogeneous Matrix is a concatenation of numerous

translations and rotations
J
I

WN

T
X
K

P
A

O
W
WA

One more variation on finding H:

H=

(Rotate so that the X-axis is aligned with T)

* ( Translate along the new t-axis by || T || (magnitude of T))
* ( Rotate so that the t-axis is aligned with P)
* ( Translate along the p-axis by || P || )
* ( Rotate so that the p-axis is aligned with the O-axis)

This method might seem a bit confusing, but its actually an easier way to
solve our problem given the information we have. Here is an example

Forward Kinematics

The Situation:
You have a robotic arm that
starts out aligned with the xo-axis.
You tell the first link to move by 1
and the second link to move by 2.
The Quest:
What is the position of the
end of the robotic arm?
Solution:
1. Geometric Approach
This might be the easiest solution for the simple situation. However,
notice that the angles are measured relative to the direction of the previous
link. (The first link is the exception. The angle is measured relative to its
initial position.) For robots with more links and whose arm extends into 3
dimensions the geometry gets much more tedious.
2. Algebraic Approach
Involves coordinate transformations.

Example Problem:
You are have a three link arm that starts out aligned in the x-axis.
Each link has lengths l1, l2, l3, respectively. You tell the first one to move by
1 , and so on as the diagram suggests. Find the Homogeneous matrix to get
the position of the yellow dot in the X0Y0 frame.
Y3

3
Y2

X3

X2

H = Rz( 1 ) * Tx1(l1) * Rz( 2 ) * Tx2(l2) * Rz( 3 )

1

Y1

X1

Y0

1
X0

i.e. Rotating by 1 will put you in the X1Y1 frame.

Translate in the along the X1 axis by l1.
Rotating by 2 will put you in the X2Y2 frame.
and so on until you are in the X3Y3 frame.
The position of the yellow dot relative to the X 3Y3 frame is
(l1, 0). Multiplying H by that position vector will give you the
coordinates of the yellow point relative the the X 0Y0 frame.

Slight variation on the last solution:

Make the yellow dot the origin of a new coordinate X 4Y4 frame
Y3
Y4

3
Y2

2
X2

X3

3
X4

H = Rz( 1 ) * Tx1(l1) * Rz( 2 ) * Tx2(l2) * Rz( 3 ) * Tx3(l3)

1

This takes you from the X0Y0 frame to the X4Y4 frame.

X1

Y0

Y1

1
X0

X
Y

0
0
H
0

1

The position of the yellow dot relative to the X 4Y4 frame

is (0,0).

Notice that multiplying by the (0,0,0,1) vector will

equal the last column of the H matrix.

More on Forward Kinematics

Denavit - Hartenberg Parameters

Denavit-Hartenberg Notation

Z(i - 1)
Y(i -1)

X(i -1)

Yi
a(i - 1 )

Zi
Xi

di

ai

( i - 1)

IDEA: Each joint is assigned a coordinate frame. Using the DenavitHartenberg notation, you need 4 parameters to describe how a frame (i)
relates to a previous frame ( i -1 ).
THE PARAMETERS/VARIABLES:

, a , d,

The Parameters

Z(i - 1)
Y(i -1)

X(i -1)
( i - 1)

Yi
a(i - 1 )

Zi
Xi

di

ai

You can
align the
two axis
just using
the 4
parameters

1) a(i-1)
Technical Definition: a(i-1) is the length of the perpendicular between the joint
axes. The joint axes is the axes around which revolution takes place which are the
Z(i-1) and Z(i) axes. These two axes can be viewed as lines in space. The common
perpendicular is the shortest line between the two axis-lines and is perpendicular
to both axis-lines.

a(i-1) cont...
Visual Approach - A way to visualize the link parameter a(i-1) is to imagine an
expanding cylinder whose axis is the Z(i-1) axis - when the cylinder just touches the
joint axis i the radius of the cylinder is equal to a(i-1). (Manipulator Kinematics)
Its Usually on the Diagram Approach - If the diagram already specifies the
various coordinate frames, then the common perpendicular is usually the X (i-1)
axis. So a(i-1) is just the displacement along the X(i-1) to move from the (i-1) frame
to the i frame.
If the link is prismatic, then a(i-1)
is a variable, not a parameter.

Z(i - 1)
Y(i -1)
X(i -1)
( i - 1)

Yi
a(i - 1 )

di

Zi
Xi

ai
i

2) (i-1)
Technical Definition: Amount of rotation around the common perpendicular so that
the joint axes are parallel.
i.e. How much you have to rotate around the X (i-1) axis so that the Z(i-1) is pointing in
the same direction as the Zi axis. Positive rotation follows the right hand rule.

3) d(i-1)
Technical Definition: The displacement
along the Zi axis needed to align the a(i-1)
common perpendicular to the ai common
perpendicular.
In other words, displacement along the
Zi to align the X(i-1) and Xi axes.

Z(i - 1)
Y(i -1)
X(i -1)

Yi Z
i
a(i - 1 )

di

Xi

( i - 1)

4) i
Amount of rotation around the Zi axis needed to align the X(i-1) axis with the Xi

ai
i

The Denavit-Hartenberg Matrix

cos i
sin i cos (i 1)
sin i sin (i 1)
0

sin i
cos i cos (i 1)
cos i sin (i 1)
0

0
sin (i 1)
cos (i 1)
0

a(i 1)

sin (i 1) d i
cos (i 1) d i

Just like the Homogeneous Matrix, the Denavit-Hartenberg Matrix is a

transformation matrix from one coordinate frame to the next. Using a series of
D-H Matrix multiplications and the D-H Parameter table, the final result is a
transformation matrix from some frame to your initial frame.

Put the transformation here

Z(i Y(i -1)

1)

X(i -1)
( i -

Y Zi
a(i -

X a
i

1)

1)

3 Revolute Joints

Y2

Z1

Z0

X2
X0

d2

X1

Y0

Y1

a0

Denavit-Hartenberg Link
Parameter Table

a1
i

(i-1)

a(i-1)

di

1) To describe the robot with its

variables and parameters.

2) To describe some state of the

robot by having a numerical values
for the variables.

a0

-90

a1

d2

Notice that the table has two uses:

Y2

Z1

Z0

X2
X0

X1

Y0

Y1

a0

a1

X 0 Y0 Z 0

V X2
Y2
V

V Z2

(i-1)

a(i-1)

di

a0

-90

a1

d2

d2

T ( 0T)( 01T)(12T)
Note: T is the D-H matrix with (i-1) = 0 and i = 1.

(i-1)

a(i-1)

di

a0

cos1
sin
1
0

1
0

-90

a1

sin1
cos1
0
0

d2

0 a0
0 0
0 0

0 1

This is a translation by a0 followed by a

rotation around the Z1 axis

cos 0 sin 0
sin
cos 0
0

0T
0
0

0
0

0
0
1
0

0
0
0

This is just a rotation around the Z0 axis

cos 2

0
1

2T
sin 2

sin 2
0
cos 2
0

0 a1
1 d 2
0 0

0 1

This is a translation by a1 and then d2

followed by a rotation around the X2 and
Z2 axis

T ( 0T)( 01T)( 12T)

Inverse Kinematics
From Position to Angles

A Simple Example

Revolute and
Prismatic Joints
Combined

Finding :

y
arctan( )
x

More Specifically:

(x , y)

y
arctan 2( )
x

1
X

Finding S:

S (x 2 y 2 )

arctan2() specifies that its in the

first quadrant

Inverse Kinematics of a Two Link Manipulator

(x , y)

Find:

l2

l1

Given: l1, l2 , x , y
1, 2

Redundancy:
A unique solution to this problem
does not exist. Notice, that using the
givens two solutions are possible.
Sometimes no solution is possible.
(x , y)

l2
l2

l1
l1

The Geometric Solution

2

l2

(x , y)

Using the Law of Cosines:

c 2 a 2 b 2 2ab cos C
2

( x 2 y 2 ) l1 l2 2l1l2 cos(180 2 )
cos(180 2 ) cos( 2 )
2

l1

Using the Law of Cosines:

sin B sin C

b
c
sin 1 sin(180 2 )
sin( 2 )

l2
x 2 y2
x 2 y2
1 1
y
arctan 2
x

x 2 y 2 l1 l2
cos( 2 )
2l1l2

x 2 y 2 l12 l2 2

2 arccos

2l1l2

Redundant since 2 could be in the

first or fourth quadrant.

Redundancy caused since 2 has two possible

values

1 arcsin

l sin( )
2
2

y
arctan 2
x
x 2 y 2

The Algebraic Solution

2

l2

(x , y)

c1 cos1
c1 2 cos( 2 1 )
(1) x l1 c1 l2 c1 2

l1

(2) y l1 s1 l2 sin 1 2

(3) 1 2

(1) 2 (2) 2 x 2 y 2

l1 c1 l2 (c1 2 ) 2 2l1l2 c1 (c1 2 ) l1 s1 l2 (sin1 2 ) 2 2l1l2 s1 (sin1 2 )

l1 l2 2l1l2 c1 (c1 2 ) s1 (sin1 2 )
2

l1 l2 2l1l2 c 2

Only Unknown

x 2 y 2 l12 l2 2

2 arccos

2
l
l
1 2

Note :
cos(ab) (cos a )(cos b) (sin a )(sin b)

sin( ab) (cos a)(sin b) (cos b)(sin a )

x l1 c1 l2 c1 2
l1 c1 l2 c1c 2 l2 s1s2
c1 (l1 l2 c 2 ) s1 (l2 s2 )
y l1 s1 l2 sin 1 2
l1 s1 l2 s1c 2 l2 s 2 c1
c1 (l2 s 2 ) s1 (l1 l2 c 2 )
c1

x s1 (l 2 s 2 )
(l1 l 2 c 2 )

x s1 (l 2 s 2 )
y
(l 2 s 2 ) s1 (l1 l 2 c 2 )
(l1 l 2 c 2 )

s1

Note :
cos(a b) (cos a )(cos b) (sin a )(sin b)

sin( ab) (cos a)(sin b) (cos b)(sin a )

We know what 2 is from the previous

slide. We need to solve for 1 . Now
we have two equations and two
unknowns (sin 1 and cos 1 )
Substituting for c1 and simplifying
many times

1
x l 2 s 2 s1 (l12 l 2 2 2l1l 2 c 2 )
(l1 l 2 c 2 )
y(l1 l 2 c 2 ) x l 2 s 2
2

x y

Notice this is the law of cosines

and can be replaced by x2+ y2

y(l1 l 2 c 2 ) x l 2 s 2

1 arcsin

x y

Joint Drive Systems

Electric
Uses electric motors to actuate individual joints
Preferred drive system in today's robots

Hydraulic
Uses hydraulic pistons and rotary vane actuators
Noted for their high power and lift capacity

Pneumatic
Typically limited to smaller robots and simple material
transfer applications

Robot Control Systems

Limited sequence control pick-and-place
operations using mechanical stops to set positions
Playback with point-to-point control records
work cycle as a sequence of points, then plays back
the sequence during program execution
Playback with continuous path control greater
memory capacity and/or interpolation capability to
execute paths (in addition to points)
Intelligent control exhibits behavior that makes it
seem intelligent, e.g., responds to sensor inputs,
makes decisions, communicates with humans

End Effectors
The special tooling for a robot that enables it to perform a
specific task
Two types:
Grippers to grasp and manipulate objects (e.g., parts) during
work cycle
Tools to perform a process, e.g., spot welding, spray
painting

Grippers and Tools

Industrial Robot Applications

1. Material handling applications
Material transfer pick-and-place, palletizing
Machine loading and/or unloading

2. Processing operations
Welding
Spray coating
Cutting and grinding

3. Assembly and inspection

Robotic Arc-Welding Cell

Robot performs
flux-cored arc
welding
(FCAW)
operation at one
workstation
while fitter
changes parts at
the other
workstation

Servo Robots
A more sophisticated level of control can be
achieved by adding servomechanisms that can
command the position of each joint.
The measured positions are compared with
commanded positions, and any differences are
corrected by signals sent to the appropriate
joint actuators.
This can be quite complicated

Teach and Play-back Robots

Robotic Vision system

The most powerful sensor, which can equip a robot with large
variety of sensory information is ROBOTIC VISION.
Vision systems are among the most complex sensory system in
use.
Robotic vision may be defined as the process of acquiring
and extracting information from images of 3-d world.
Robotic vision is mainly targeted at manipulation and
interpretation of image and use of this information in robot
operation control.
Robotic vision requires two aspects to be addressed
1. Provision for visual input
2. Processing required to utilize it in a computer based
systems.

Why UVs Need AI

Sensor interpretation
Bush or Big Rock?, Symbol-ground problem, Terrain interpretation

Situation awareness/ Big Picture

Human-robot interaction
Open world and multiple fault diagnosis and recovery
Localization in sparse areas when GPS goes out
Handling uncertainty
Manipulators
Learning

Artificial Intelligent Robots

All Have 5 Common Components
Mobility: legs, arms, neck, wrists
Platform, also called effectors

Perception: eyes, ears, nose, smell, touch

Sensors and sensing

Control: central nervous system

Inner loop and outer loop; layers of the brain

Power: food and digestive system

Communications: voice, gestures, hearing
How does it communicate (I/O, wireless, expressions)
What does it say?

7 Major Areas of AI
1. Knowledge representation
how should the robot represent itself, its task, and the world

2. Understanding natural language

3. Learning
4. Planning and problem solving
Mission, task, path planning

5. Inference
Generating an answer when there isnt complete information

6. Search
Finding answers in a knowledge base, finding objects in the world

7. Vision

Intelligence and the CNS

Upper brain or cortex
Reasoning over information about goals

Middle brain
Converting sensor data into information

Spinal Cord and lower brain

Skills and responses

AI Focuses on Autonomy
Automation
Execution of precise, repetitious actions or sequence in
controlled or well-understood environment
Pre-programmed

Autonomy
Generation and execution of actions to meet a goal or
carry out a mission, execution may be confounded by
the occurrence of unmodeled events or environments,
requiring the system to dynamically adapt and replan.
Adaptive

So How Does Autonomy Work?

In two layers
Reactive
Deliberative

3 paradigms which specify what goes in

what layer
Paradigms are based on 3 robot primitives:
sense, plan, act

AI Primitives within an Agent

SENSE

PLAN

LEARN

ACT

Reactive
SENSE

ACT

SENSE

ACT

SENSE

ACT

PLAN

Users loved it because it worked

AI people loved it, but wanted
to put PLAN back in
Control people hated it because
couldnt rigorously prove it
worked

Thank you all