002.What Robots Are Good For

What are robots good for?

Examples of Examples of Robots from Robots from Many AreasMany Areas

POLICE ROBOTPOLICE ROBOT • An experimental robot picks up a

simulated pipe bomb during a demonstration for the media at Sandia National Laboratories in Albuquerque, N.M., Tuesday, July 3, 2001.

• New technology developed at Sandia National Laboratories is making bomb disposal easier and safer for police bomb squads.

• Phil Bennett, project leader at Sandia, says the arm joints of the new robot are more coordinated than the old-line robots.

• (AP Photo/Jake Schoellkopf)

Example: Example: NOMAD NOMAD ROBOTROBOT

• This undated photo from Carnegie Mellon Uniuversity shows the Nomad robot during its solo drive on an icy Antartic plain.

• The robot, a product of the university's Robotics Institute, began testing its wheels in January after it was taken by helicopter to a harsh region known as Elephant Moraine where it was left to inspect rocks and look for meteorites.

• (AP Photo/Carnegie Mellon U.)

What are robots good for?•Gofer robots

Carnegie Mellon’s Nomad

ROBOTIC ROBOTIC

SURGERYSURGERY

• Franckle assited Dr. Andrew Boyarsky who was manipulating small robotic instruments, one is seen on monitor, while looking at a three-dimensional image of the patient's abdomen from a work station about 10 feet away from the patient. (AP Photo/Mike Derer)

•Dr. William Franckle watches a video monitor as he assists in a gall bladder operation using a robotic surgery machine called da Vinci Surgical System, left, at Robert Wood Johnson University Hospital in New Brunswick, N.J., Thursday, Feb. 8, 2001.

HURRICANE HURRICANE

SEASONSEASON

•The Aerosonde launches from a car's roof rack and can carry a 4 1/2-pound payload of high-tech measuring equipment. Maurice Gonella, Aerosonde's principal engineer, says the $100,000 drones can be put on autopilot and will constantly relay information. •They also take photographs as they go. (AP Photo/Aerosonde Robotic Aircraft)

• ADVANCE FOR WEEKEND EDITIONS OF MAY 19-20 -- An Aerosonde aircraft is seen from its launch vehicle in this 2000 file photo taken in Australia. Aerosonde Ltd., an Australian company, is seeking permission to fly pilotless robotic planes into the 2001 hurricane storms.

ROBOT LAWN MOWERROBOT LAWN MOWER • Scott Jantz, an engineering student at

the University of Florida in Gainesville, Fla., watches a robot lawn mower Wednesday, Aug. 6, 1997, that cuts grass by itself while avoiding obstacles such as trees, toys and even children and pets.

• Dubbed the LawnNibbler, the mower was designed and built by Kevin Hakala for his engineering master's thesis.

• The battery-powered mower, developed at UF's Machine Intelligence Laboratory, uses buried radio wires, sonar and infrared emitters and detectors to find its way without human assistance.

• (AP Photo/University of Florida)

SANDIA ROBOTICSSANDIA ROBOTICS

Sandia National Laboratories researcher Tom Weber holds a tiny robot named MARV, for Mobile Autonomous Wheeled Vehicle, on Oct. 28, 1996 in Albuquerque, N.M.

Weber says MARV is a learning tool to begin to understand the problems of building inexpensive little robots for use in military applications.(AP Photo/Jake Schoellkopf)

Robots in the WorldRobots in the World

Installations

Stock

Robots in the Real WorldRobots in the Real World• Welding

• Painting

• Assembly

• Laboratory

• Manufacturers

By 1985, there were 180,000 robots on production lines in the world with the US, France and Japan accounting for 80% of them

A robot drills 550 holes in the vertical tail fins of an F-16 fighter in 3 hours in General Dynamics. It used to take 24 worker hours to do the job manually.

Industrial ManipulatorsIndustrial Manipulators

Puma 500RRC Dexterous Manipulator

Industrial ManipulatorsIndustrial Manipulators

Adept Six 300 Adept One XL

Cartesian robot Cartesian robot

• Robot "T-Minus", right, built by Reason Bradley of Sausalito, Calif., flips opponent robot "Halo", built by Brian Scearce of Fremont, Calif., Thursday, May 24, 2001, during the preliminary elimination rounds of the Battlebots Robot Combat Championship on Treasure Island, in San Francisco.

• Battlebots is the sport of remote controlled robotic combat, where a face-off of creations made by Hollywood special effects artists, rocket scientists, software designers, and garage tinkerers meet in the boxing arena.

• The championships will run through the Memorial Day weekend, and end on Monday, May 28. (AP Photo/Ben Margot)

BATTLEBOTS BATTLEBOTS

CHAMPIONSHIPCHAMPIONSHIP

The Robot RevolutionThe Robot Revolution• While a computer performs mental tasks, a

robotis a computer-controlledmachinedesigned todo manualtasks

Mobile Autonomous RobotsMobile Autonomous Robots

KheperaCWRU Hexapod 1

Robots in ResearchRobots in Research

• Mobile robots need brains– Navigation is difficult– And potentially dangerous

Service robots: Cleaning Service robots: Cleaning robotrobot

Service robots: Building wallsService robots: Building walls

Service robots : Gas stationService robots : Gas station

Pattern Recognition:Pattern Recognition: Making Sense of the World Making Sense of the World

• Pattern recognition involves identifying recurring patterns in input data with the goal of understanding or categorizing that input

• Image Analysis:identifying objectsand shapes

•Manufacturing and materials handling

What are the robots good for?

•Gofer robots

Bell & Howell Mailmobile

What are the robots good for?

What are robots good for?•Hazardous environments

Lunokhod Moon Robot

What are robots good

for?

•Hazardous environments

Dante II Frame Walking Robot

What are robots good for?•Telepresence and virtual reality

The Wheelbarrow, a bomb disposal robot

What are robots good for?•Telepresence and virtual reality

Advanced Tethered Vehicle (ATV)

What are robots good for?•Telepresence and virtual reality

Advanced Robot and Telemanipulator System for Minimal Invasive Surgery(ARTEMIS)

What are robots good for?•Augmentation of human abilities

Sigourney Weaver in the movie Aliens

Daihen Almega GO1S

PCB 기판을 조립하는 Quad 로보트

Kuka Robotics KL1500Kuka Robotics KL1500

Automated Cells and Equipment 사의 RoboCell

WTR-A1000

Fanuc LR Mate 드릴 로보트

SONY 사에서 개발한 장난감 개 , Aibo

Yaskawa Help Mate

NASA 의 RMS

수중탐사용 로보트

What are What are robots made robots made

of?of?

What are robots made of?•Effectors: Tools for Action

•Locomotion

•Manipulation

•Sensors: Tools for perception

•Proprioception

•Force Sensing

•Tactile Sensing

•Sonar

•Camera Data

What are robots made What are robots made of?of?•Effectors: Locomotion

Carnegie Mellon’s Ambler

What are What are robots robots

made of?made of?

•Effectors: Locomotion

MIT’s 3D Hopper

What are What are robots made robots made

of?of?

•Sensors: Proprioception

MIT’s Spring Flamingo

What are robots made of?What are robots made of?

MIT’s Phantom

•Sensors: Force Sensing

What are What are robots robots

made of?made of?

•Sensors: Tactile Sensing

MIT’s Planar Grasper

What are What are robots made robots made

of?of?•Sensors: Sonar

ActivMedia’s Peoplebot

What are robots made What are robots made of?of?

•Sensors: Camera Data

The Johns Hopkins Beast

What are robots made of?•Sensors: Camera Data

MIT’s Fast Eye Gimbals

Why Robotics?• In view of the keen competition worldwide in

automotive manufacturing technology, the role of robot is unavoidable with its current state of the art.

• With a pressing need for increased productivity and the delivery of the end products of uniform quality, industry is turning more and more toward computer-based machine tools for the “agile” assembly line

Why Robotics?• Modern computer architecture and sensors provide

intelligence to the robot.• “Intelligence connection from perception to action”• The new message is: robots are going to come out of

factory and enter our every day life.• In Japan, ~70,000 robots are installed every year.• Companies there are taking full advantage of the

productive power of robotics.• It is not an accident that Japan is such a strong

competition in so many manufacturing industries• Their companies are willing to make long-term

commitment to robotics and advanced automation

The Basic Components of an Industrial Robotic System

The application areas of Industrial Robots are:

Robotics: Emulation of Human Endeavors

The Modern Technologies add the Qualities to the Robots:

What can you expect from this lecture

• Applications of Artificial Intelligence techniques in robotics and intelligent systems

My goal is to extend your imagination what can be done using robotic and intelligent systems!!

Main Components of Lectures:Main Components of Lectures:

• We reimburse your all expenses

• Robot stays at PSU

• If you want, you can duplicate it next

AssignmentsAssignments• 1. In the Robotics

Laboratory you can find many videotapes about robots from top universities. Watch them. This will help you in the project.

• 2. Try to find on Internet or in local shops more videos about robots and share them with the class.

• 3. In the lab and in the storage room try to find components that may be useful for your projects. If not, look to Tektronix Country Store, Wacky Willy or similar shops for components.

SourcesSources• Padhraic Smyth

• Kiriakos Kutulakos, University of Rochester

• Rojas FUB MI

• Behnke

• A. Ferworn • Dodd, Harvey Mudd College• Internet• Brian Glassman, Mechanical Engineering at Florida Institute of Technology

• John Gallagher, SUNY Institute of Technology