EE-562 : Robot Motion Planning Lecture 1 ت�اب�ور ِى�� ءء ۵۶۲ Dr Abubakr Muhammad Assistant Professor Electrical Engineering, LUMS Director, CYPHYNETS Lab http://cyphynets.lums.edu.pk
Resources Course material from • CMPE-633x series (2010-13) at CYPHYNETS http://cyphynets.lums.edu.pk/index.php/Teaching • CMU course RI 16-735 by Howie Choset. Textbooks • Principles of Robot Motion by Choset et al. • Planning Algorithms by Steven Lavalle
What is a robot? • Public perception • Pop culture images
What is a Robot? A mechanical system that has sensing, actuation and computation capabilities. Other names (in other disciplines) • Autonomous system • Intelligent agent • Control system
What is a robot? • Is a toaster a robot? • Is a movie recommender system a robot? • Is a thermostat a robot? • Is a car cruise control system a robot? • Is an aircraft auto-pilot a robot?
What are Robots? • A robot is an intelligent connection of perception to action. • A robot is an autonomous system which exists in the physical world, senses its environment and acts in it to achieve some goals.
Think again … • Is a toaster a robot? • Is a movie recommender system a robot? • Is a thermostat a robot? • Is a car cruise control system a robot? • Is an excavator a robot? • Is an aircraft auto-pilot a robot? A robot is an autonomous system which exists in the physical world, senses its environment and acts in it to achieve some goals.
What Makes a Robot? A robot consists of: • – sensors – effectors/actuators – communication – controller A robot is a rational agent capable of • – acting autonomously – achieving goals Robota means self labour, drudgery, hardwork in Czech • • �اب�ور = �آ + � + ور ( Urdu Wikipedia)
What is Robotics? The art and science of making robots • Where are roboticists found • – Electrical engineering (control systems) – Mechanical engineering (mechanisms) – Computer science (AI, learning) – Mechatronics – Bioengineering Increasingly important • – Lawyers (legal issues, labor laws) – Philosophers (ethical issues) – Economists (disruptive technologies) – Social scientists (the social impacts of automation, aesthetics)
When did the first robots appear? • Hero’s automatic devices (~50 AD Alexandria) • Su Song’s clock towers (~1000 AD China) • Al-Jazari’s hydraulic automatons (~1200 AD Arabia) • Leonardo de Vinci’s mechanical knights (~1500 AD) • Tea serving karakuri puppets (~1800 AD)
Modern Robotics Three broad categories 1. Industrial robots: manipulators (1970’s) 2. Mobile robots: platforms with autonomy (1980’s) 3. Mobile manipulators = manipulator + mobility (2000’s)
Industrial Manipulators
Some Mobile Robots Terminology • UAV: Unmanned Aerial Vehicle • UGV: Unmanned Ground Vehicle • UUV: Unmanned Undersea (underwater) Vehicle • AUV: Autonomous Underwater Vehicle
Bio-inspired / Walking Machines
Why do we create robots? • A question for – the philosopher: rationalize the need? – the psychologist: man’s creative traits? – the theologist: man’s obsession with divinity? • A personal view point – Bible: “God created man in His own image.” (Genesis 1:27) – Hadith: “Allah created Adam in His image.” (Bukhari, ﻕﻠﺧ ﷲ ﻰﻠﻋ ﻡﺩﺁﻪﺗﺭﻭﺻ Muslim)
Why Robots? • Natural continuation of the industrial & information revolutions – automation • Better at dull repetitive tasks • Increased productivity • Can perform risky/dangerous tasks • Can work round the clock • No labor unions ! • Fukushima Daichii nuclear reactor (2011 earthquake) – 1,973 TEPCO emergency workers affected by radiation
Robots and Future Economies • Why do Robots have a role to play? • Where will be the greatest impact? – Driving, Mining, Agriculture, Healthcare, Humanitarian, Defense • What are the challenges and problems? – Legal challenges – Ethical issues • Robots and the developing world: What will be the social impact? – Automation and society – Social engineering – Conflicts and responsibility
Self-Driving Trucks for Mining • 17 Self-driving trucks deployed for mining in australia • Increased accuracy in operation as compared to humans • Improved earth excavation
Autonomous Driving • Market for advanced driver assistance systems to grow from $10 billion now to $130 billion in 2016 • Projected to reach $500 billion by 2020
Autonomous Driving • Tesla—90% autonomous vehicle within 3 years • EURO-NCAP automated emergency braking mandatory by 2014 • For 5-star safety rating, vehicle has to be ‘robotic’
Defense: Unmanned Aerial Vehicles • Drones—combat, surveillance • First appeared during the vietnam war • First recorded targeted killing– 2002 (afghanistan) • Global UAV market-- $5.9 billion now to $8.35 billion in 2018
Defense: Unmanned Aerial Vehicles • NYU/stanford report—2,562-3,325 fatalities in pakistan • U.S pullout from Afghanistan-- integration of decommissioned UAVs • Market ripe for drones for surveillance • Other uses: weather research, law enforcement
Defense: Driverless Vehicles • 1/3 of all U.S Military vehicles to be autonomous by 2015 • Terramax-- Oshkosh Trucking Corporation • Black Knight – Unmanned Tank
Unmanned Agricultural Machines • Efficient utilization of resources • Uavs for spraying insecticides • Driverless tractors
Unmanned Agricultural Machines • Possible Applications: Weeding, Harvesting, Pruning, Canal Cleaning (‘ Bhal Safai ’) • Lettuce Bot (Blue River Technology)— Eliminates Leafy Buds 20x Faster
Humanitarian • Landmine detection • Bomb disposal • Prosthetic limbs—full restoration of original capabilities
Surgical Robots • Surgical robotics-higher precision, repeatability, cost-effective • Significantly lower blood loss • Minimally invasive surgery
Surgical Robots • Flagship--da vinci surgical robot • Surgical robot market to reach significant growth • Market size: $3.2 billion in 2012, anticipated to reach $19.96 billion by 2019
Assistive Robots • Robotic vacuum cleaners • Global market share of robotic vacuum cleaners-- 12% of $680 million
Assistive Robotics • Growing elderly population in developed countries • Demographics to change by 2050 • Over 60 to form 22% of the world population compared to the 11% today • Needs: visual assistance, emergency assistance, mobility assistance
Factories of the Future • Declining costs – Industrial grade manipulators ~ > $100,000 – Baxter (rethink robotics) costs $22,000 • Small & Medium Enterprises (SME’s) entering the fray • Need consistent quality • Lean operation • Higher productivity • Higher accuracy in safety critical applications
Baxter-Capabilities VS
Case Study: China • Low cost robots competing against the minimum wage rate • Youth unwilling to perform manual labor • Delta electronics and foxconn looking to develop a $10,000 robot
Case Study: India • India--Market for Robots Will Increase From 1,547 to 3,500 Units By 2015 • SME’s entering into robotics • Labor is plenty but unskilled • Job hopping
Challenges: Demons of Automation • Unemployment ? – classical debate from romantic era • Worker lay-off • Eventually little or no need for skilled labor • Driving may look obsolete in 25 years – 4 million driving jobs will be lost • Agricultural robotics—farming labor to lose jobs
Challenges: Legal and Ethical • Autonomous driving and legal aspects – Who is driving the car? – Accident and insurance – Passenger safety • Surgical robots – Similar issues – Patient care, liability • Drones (e.g. unmanned aerial vehicles UAVs) – Who pulled the trigger? – Wars and international law • Social Acceptance of Robots
What is in store for developing countries? • A storm is coming? • Major challenges to the social fabric • Raise ethical challenges • From nuclear age to the robotic age • A brave new world?
What is in store for countries like Pakistan? Why Automation in developing countries like Pakistan? • – Devolution of governance – Ensuring rights – Conflict resolution Entitlements Participation Bridging the gap of “expertise” – a different • robotics paradigm • Major challenges Accountability – Natural resources – Food and Agriculture Problems – Critical infra-structures – Security Robotics, AI and automation may be the answer to some of these! •
What is a Motion Planner? High Level Specifications Motion Planner Low Level descriptions of how to move
What is a Motion Planner? High Level Specifications Motion Planner Low Level descriptions of how to move
What is a Motion Planner? High Level Specifications Motion Planner Low Level descriptions of how to move Do this while 1. Avoiding obstacles 2. Obey differential constraints 3. Handle uncertainties 4. Achieve optimality
Recommend
More recommend
