Introduction to AI Robotics( Chapter 1. From Teleoperation To Autonomy )

(12-09-19)

Sungmin Lee ( 이성민 )Division of Electronic Engineering, Chonbuk National

University

Intelligent Systems & Robotics Lab.http://robotics.jbnu.ac.kr

overview

What Can Robots Be Used For?

1) nuclear, space, military2) service industry, agriculture 3) demining an area of land mines, urban search and rescue.4) THE 3 D’S (dirty, dull, or dangerous.)

A Brief History of Robotics(1)

Robotics has its roots in a variety of sources, including the way machines are controlled and the need to perform tasks that put human workers at risk.In 1942, the United States embarked on a top secret project, called the Manhattan Project, to build a nuclear bomb.Many military leaders of both sides of World War II believed the winner would be the side who could build the first nuclear device: the Allied Powers led by USA or the Axis, led by Nazi Germany.

World War II(1939. 9. 1 ~ 1945. 9. 2)

A Brief History of Robotics(2)

One of the first problems that the scientists and engineers encountered was handling and processing radioactive materials, including uranium and plutonium, in large quantities.

Solution 1

Solution 2

Glove box

Telemanipulator

Industrial manipulators

First industrial manipulator - Unimate

Robot arms began being introduced to industries in 1956 by Unimation.

“Armed for duty. A Unimate robot – really, just an arm- picks up and puts down parts in a General Electric factory”

AGVs(automated guided vehicles)

The first AGV system was built and introduced in 1953. It was a modified towing tractor that was used to pull a trailer and follow an overhead wire in a grocery warehouse. By the late 50's and early 60's towing AGVs were in operation in many types of factories and warehouses.

Mobile cart

A Brief History of Robotics(3)

Despite the emerging Luddite effect, industrial engineers in each of the economic powers began working for a black factory in the 1980’s. A black factory is a factory that has no lights turned on because there are no workers.

But two unanticipated trends undermined industrial robots in a way that the Luddite movement could not.First, industrial engineers did not have experience designing manufacturing plants with robots.The second trend was the changing world economy. Customerswere demanding “mass customization.” (Mass customization is also referred to as “agile manufacturing.”)

Components of a Telesystem

Teleoperation is when a human operator TELEOPERATION controls a robot from a distance (tele means “remote”)

Local

Remote

Ways of Controlling a Robot

“RC-ing”you control the robotyou can view the robot and it’s relationship to the environmentex. radio controlled cars, bomb robotsoperator isn’t removed from scene, not very safe

teleoperationyou control the robotyou can only view the environment through the robot’s eyesdon’t have to figure out AI

semi- or full autonomyyou might control the robot sometimesyou can only view the environment through the robot’s eyesex. Sojouner with different modeshuman doesn’t have to do everything

Teleoperation

Human controls robot remotelyHazardous materialsSearch and rescueSome planetary rovers

ConsiderationsFeedback (video, tactile)User interfaces (cognitive fatigue, nausea)Time/distance

Ex1. Teleoperation systems

Unmanned Aerial Vehicle ( UAV ) 7 second communications lag (satellite relay)

DarkStar

Ex2. Teleoperation systems

4 people to control it (52-56 weeks of training)one for flying two for instrumentsone for landing/takeoffplus maintenance, sensor processing and routing

Predator

Teleoperation Best Suited For

1. The tasks are unstructured and not repetitive.2. The task workspace cannot be engineered to permit the use of industrial manipulators.3. Key portions of the task require dexterous manipulation, especially hand-eye coordination, but not continuously. 4. Key portions of the task require object recognition or situational awareness. 5. The needs of the display technology do not exceed the limitations of the communication link (bandwidth, time delays).6. The availability of trained personnel is not an issue.

Teleoperation Problems

1. cognitive fatigue2. communications bandwidth3. communications lag4. too many people to run one robot

Teleoperation Solutions

Telepresence– improves human control, reduces simulator sickness and

cognitive fatigue by providing sensory feedback to the point that teleoperator feels they are “present” in robot’s environment

Semi-autonomous– Supervisory Control

• human is involved, but routine or “safe” portions of the task are handled autonomously by the robot

• Shared Control– human initiates action, interacts with remote by adding perceptual

inputs or feedback, and interrupts execution as needed

• Traded Control– human initiates action, does not interact

Ex1. Telepresence

Telepresence is when humans sense that they are at a certain location, but when in fact, they are many miles away.

Ex2. Telepresence

The TELESAR V telexistence robot avatar, is his lab’s latest masterpiece. The robot can transmit sight, hearing and even touch, so when you can’t be there, it’s the next best thing.

Films about telepresence

Ex3. Telepresence

The Seven Areas of AI

1. knowledge representation.2. understanding natural language.3. Learning.4. planning and problem solving.5. Inference.6. Search.7. Vision.

Summary

Teleoperation arose as an intermediate solution to autonomy, but it has a number of problems : cognitive fatigue, highcommunications bandwidth, short delays, and many : one human to robot ratios.

Telepresence tries to reduce cognitive fatigue through enhanced

immersive environments

Semi-autonomy tries to reduce fatigue, bandwidth by delegating

portions of the task to robot

Thank you