![Safety Evaluation [Ikuta]
• Injury
o Mechanical, Electric, Acoustic
• Design
o Reduce weight
o Absorb impact
o Joint compliance
o Shapes / space
o Reduce surface friction](https://image.slidesharecdn.com/debates-100422133507-phpapp02/85/Lectures-11-12-Debates-47-320.jpg)
![Safety Evaluation [Ikuta]
• Control
o Keeping distance
o Approaching Velocity
o Posture / Stiffness](https://image.slidesharecdn.com/debates-100422133507-phpapp02/85/Lectures-11-12-Debates-48-320.jpg)
![Middle Ground
• ACM/IEEE Conference on Human-Robot Interaction
o [Wang] Simulated search and rescue swarm.](https://image.slidesharecdn.com/debates-100422133507-phpapp02/85/Lectures-11-12-Debates-52-320.jpg)
![References
http://www.cogniron.org/
http://www.care-o-bot-research.org/
http://www.springerlink.com/content/m137403033644541/
http://www.aaai.org/ojs/index.php/aimagazine/article/view/2066/2053
http://www.springerlink.com/content/r2555625qq788241/
http://www.aass.oru.se/~peis/
http://www.scientistlive.com/.../Autonomous_robot_surgeries...
[Ikuta] http://ijr.sagepub.com/cgi/reprint/22/5/281
[Wang] http://delivery.acm.org/10.1145/......
http://marsrover.nasa.gov/mission/status_spiritAll.html](https://image.slidesharecdn.com/debates-100422133507-phpapp02/85/Lectures-11-12-Debates-53-320.jpg)
Lectures 11+12: Debates
- 2. Benefits of robots working these jobs Harsh Environments Mitigates risk of death/injury to humans More consistent Efficient Tireless Cheaper (w.r.t. maintenance costs)
- 3. Here are some examples Harvesting Mining Motor industry Warehouse Search and Rescue
- 4. Progress Advances in Technology Paradigm Shifts Draftsmen Automotive Industry Telephone operators
- 8. Why it is good: Time for other activities Proven in history More intellectual jobs General progress and upliftment New jobs created automatically Change happens gradually
- 10. Robots are stealing human jobs. Niket Sheth Kelsey Metzler Chris Karman
- 11. What kinds of robots exist? Industrial Robots Mobile Robots Robots Used in Agriculture Telerobots Service Robots www.buzzle.com
- 12. Which Robots are “Okay” Industrial Robots – used in large scale manufacturing Mobile Robots – moving within large factories Telerobots – used in dangerous or difficult to reach places Able to work in dangerous and unreachable places, efficient, and reliable Example: Snake Robot Facts: 7484 fatalities in the industrial sector in year 2007. (Source: US Bureau of Labor Statistics)
- 13. Which Robots are “Bad” • Agricultural Robots • Service Robots • These tasks are not dangerous • Do not require superior efficiency • “Robots could substitute for a workforce of 3.52 million people in Japan by 2025” ‐Japan Today
- 14. Agricultural Robots Main application is Harvesting Fruit Picking Robots Other applications Shearing Sheep, Milking Cows Planting seeds Pruning Weeding Spraying “Oracle” Sheep Shearing Robot
- 15. Harves?ng Robot • Use image recognition and processing technology • “Harvesting is the most labor‐intensive activity for many crops, but even advocates say that no one has built a machine that comes close to matching the sensory motor control of humans.” –Popular Mechanics
- 16. Livestock Robots • Dangerous, frightening, and painful for the animal – 'Shear Magic' Sheep Shearing Robot – “robotic system is not significantly faster or more efficient than having a human do it” ‐ http://www.botjunkie.com
- 17. Service Robots I. Housekeeping • Cleaning • Washing • Folding • Laundry • Vacuuming II. Care‐Taking • Elderly/Handicapped Care • Pet Care III. Customer Service • Retail • Food Industry • Voice Service and Recognition
- 18. Housekeeping & Care‐Taking Housekeeping Care‐Taking • Taking jobs away from immigrants. The elderly/handicapped person’s • New improved jobs would require health can go wrong suddenly and higher education which costs the robot would not know what to money. do. • Become poor since no job and • i.e.: Heart attack money to get better education to • Lives are at stake get a high paying job. • Quick decision making skills • The gap between rich and poor • Need human‐to‐human interaction, would get bigger and bigger. the emotional support to get • America the land of opportunity, through life. the New World ‐> Non‐Existent. • Automated robot has no human emotion, can cause some mental issue/distress on the elderly and handicapped person.
- 19. Customer Service • 60% of the American working sector Retail employed at $14/hour or less • Automated Checkout Lines • A chunk of these employees are from • Automated Inventory the retail and food industry Management System • A majority of those are teens trying to pay for tuition and rent (make a living) • Automated Inventory Management System • Each shelf and product have its own RFID tags and bar code • Allow mobile robots to pick‐up, identify, shelve and re‐shelve, shuttle, and stack products in warehouse and shops • Automation would cause cheap labor and massive layoffs that increase unemployment
- 20. Customer Service Cont… Food Industry Voice Service & Recognition • Waiters/Waitresses • Voice operated robotic • Cooks systems (Airlines /Computer related questions and problems) • Voice Recognition in the years to come… • Near perfect • Be able to understand multiple languages • Deployment of robots and kiosks throughout the stores integrated with the voice recognition systems to help customers with product location needs.
- 21. References http://www.marshallbrain.com/robots‐in‐2015.htm http://www.cribcandy.com/robots/ 028775ad7891e934617f172b99203302&pageoffset=0
- 22. Autonomous Weapons/Cars Contra Mike Pack Tommaso Buvoli Sean Egan
- 23. Overview Buggy Systems Sensor reliability Out of Sync System Maintainability Is the Public Ready?
- 24. Sensor Reliability Sensors degrade over time Need sensors to detect degradation And a sensor to read this sensor And a sensor to read this sensor And a sensor to read this sensor And a sensor to read this sensor And so on... Question: How many levels of sensors is sufficient? Answer: Infinite levels. It's not possible. Human lives are at risk
- 25. Buggy Systems Bugs can cause unfavorable results Improper image recognition Is it a child or a bomb shaped like a child? Blow it up anyway for fun? Localization errors Cars drive off the roads! 2 foot difference in localization is extreme
- 26. Buggy Systems Today Does anyone recall the hybrid? If a car cannot control its breaks, how will it be able to drive? Also who is liable in an accident.
- 28. Out of Sync System Maintainability Out-of-sync real-world motives Robot believes Iraq is bad Humans believe Afghanistan is bad Humans must maintain software Time consuming task Accurately describe real-world situation Robot must fully understand Humans can make a more accurate, quicker decisions
- 29. Is the Public Ready? How do you explain the advances in layman's terms? Political and ethical issues Who is responsible for accidents? How do other countries feel? 6-12 THOUSAND weapon-bearing robots in Iraq and Afghanistan May 2009 -Plan to use swarm intelligent autonomous robots Robot dystopia Scared baby!
- 30. Autonomous Robots By‐ Patrick Cromer Nisheeth Bhat Sa9sh Rajan
- 32. What is Autonomy ? • Working without Human interven9on. • It may or may not be a Learning Machine. • Non‐ Autonomous – Military controlled UAV’s • Autonomous – Robo9cs Arms – without decision making capability – Tac9cal Mobile Robots(TMR) ‐with decision making capability
- 33. TMR Challenges • For the TMR’s, error in iden9fica9on of poten9al threats friends/foes. • First, the TMR must iden9fy if aggressor is a human or animal . • If a human, what type of person is it? • Does the profile indicate they are carrying a weapon? • Will this en9ty compromise the mission? What defense level is appropriate?
- 34. Assuming everything worked ! • Loop Holes ? • Enemies dressed and ac9ng like friendly soldiers. • Can you find a way out of this with a Mathema9cal Model/Algorithm. • Profile determina9on and whom to aWack? • Note: The movie Minority Report.
- 35. Real World Issues • German soldiers accidentally killed 6 friendly Afghanistan soldiers (April 04, 2010 – NY Times) • Iraq insurgents passed themselves off as U.S. soldiers and killed 24 Sunni’s who revolted against al‐Qaida ( April 03, 2010 ‐ NY Times) • Would a robot be able to differen9ate between friend/foe in these situa9ons?
- 36. Error in posi9on es9ma9on • Assuming the target’s sta9onary and no one is around it can probably be hit accurately. • What if the target is moving? • What if friendly/non‐combatant units are in the area? • How fast can the robot make these decisions? It needs to be done in real‐9me.
- 37. Autonomous Cars..present scenario • Have we been able to develop autonomous cars? – Stanford’s Junior drove mostly without human interven9on but there was s9ll human in there! • Handling of traffic like in New York? • How will the decisions be made at split second efficiency ? • Ques9on of life and death…
- 38. Loop holes… • How well the percep9on works in different environments and at high speeds. • Do we have the hardware for making split second decisions • Is Ar9ficial Intelligence the solu9on? • If it is ,it can’t even simulate a human brain! • Then how will they reduce accidents?
- 39. Machines can be hacked! • Sogware can be easily modified/corrupted in real 9me. • What about robots that communicate and base their decisions on the accuracy of each other.(Swarm Intelligence) • Imagine a machine controlling another machine and the controller gets affected(ripple effect) • Ex: TMR Robo scenario.
- 40. Conclusions • How do you want to live your life ? – Purposeful life where you are free Or – As mere Domes9c animals
- 41. Group Debates (D3-) Robots Need Human Cognizant Traits April 19, 2010 Michelle Bourgeois Brian Brooks John Martin
- 42. What is a Robot?
- 43. Intelligent Environment? • Cannot control the environment enough o Interaction with humans service robots companion robots surgical robots • Environmental control not possible o Space Exploration o Underwater Robots http://www.mnn.com/sites/default/files/0410walle_main.jpg
- 44. Service and Companion Robots humanoid "Twenty-one" RobotCub / iCub Care-O-Bot3
- 45. Human Social Interaction • Dialogue • human actions and behaviors • Skill and task learning • Spatial awareness Care-O-Bot3
- 46. Surgical Robots • IEEE Trans. Ultrasonics, Ferroelectrics and Freq. Control o autonomous robot directing catheters inside synthetic blood vessels • IEEE Ultrasonic Imaging o autonomous robot performing simulated needle biopsy • Engineering @ Duke o Real-time 3D imaging via ultrasound technology o Successful biopsy of a cyst (artificial mtrls)
- 47. Safety Evaluation [Ikuta] • Injury o Mechanical, Electric, Acoustic • Design o Reduce weight o Absorb impact o Joint compliance o Shapes / space o Reduce surface friction
- 48. Safety Evaluation [Ikuta] • Control o Keeping distance o Approaching Velocity o Posture / Stiffness
- 49. Space Exploration • Numerous places where it is not feasible to manipulate the environment for a robot • Deep space missions o Time delay at speed of light is 6 min to Mars o If we wanted to explore stars/planets further away the communication delay could be very large o Need the robots to be automated and handle issues on their own Need a more cognitive robot in order to be able to preform this kind of deep space research
- 50. Space Exploration • Spirit 1 spacecraft • Wheels became stuck in soft soil on May 1, 2009 • Stuck since • A more cognitive robot may have been able to detect the soft soil earlier and decide to not go further.
- 51. Underwater • Another example of an environment which is not feasible to manipulate enough for a robot • Current reasearch into underwater automated robots
- 52. Middle Ground • ACM/IEEE Conference on Human-Robot Interaction o [Wang] Simulated search and rescue swarm.
- 54. www.xkcd.com
- 55. Debate Nicholas Farrow, Ethan Federman, and Zach Pranger
- 56. Question: Robots do not need to be as cognitive as humans in order to be useful as making the environment intelligent is sufficient. Our Stance: Agree, making the environment intelligent is sufficient to make robots useful.
- 57. Why? Here are our facts RFID GPS Guiding Flooring Wireless Information Dispersal
- 58. Robots using RFID Radio Frequency Identification tags Active Passive Battery-Assisted Passive - which require an external source to wake up but have significant higher forward link capability providing greater range Improve the efficiency of inventory tracking and management
- 60. Robots using GPS Global Positioning Satellite provides reliable positioning, navigation, and timing services to worldwide users Each satellite continually transmits messages which include: the time the message was transmitted precise orbital information (the ephemeris) the general system health and rough orbits of all GPS satellites (the almanac). Possible example: autonomous trains
- 61. Guiding Flooring Color coded/information passing flooring Robots could read floor pattern and know where it was. Navigational Assistance Positioning Assistance Ex: Kiva Mobile Fulfillment System
- 62. Wireless Information Dispersal Wirelessly send information to robots Routing information Orders Navigation Localization Centralized Robot Wireless Communication
- 63. Wireless Information Dispersal Wirelessly send information to robots Orders
- 64. Wireless Information Dispersal Wirelessly send information to robots Orders
- 67. Topics Improved components (Gears) Example (high speed robotic hand) Improved controllers/algorithms Example (violin robot) Example (Big Dog) Actuator Trade Study SMA wire bundle actuators Stepper motor/lead screw actuators
- 68. Improvements In Components • Gears – High precision – Compact (more gears to improve accuracy of movement) – New designs/ design implementation • Harmonic drive – No backlash – Small – Light weight – High gear ratio: – 100:1 Harmonic drive – 10:1 Planetary gear
- 69. Example: High Speed Robo<c Hand Uses harmonic drive gear High power mini actuator Allows for high speeds Opens and closes hand at 1/10 second
- 70. Improvements In Control Algorithms • Learned dynamics – Robot learns by iteration • Reduction in computational cost – Less strain on processor • Faster processors – Quicker computation time=faster movements/ less delay • Combining these methods with traditional feedback control
- 71. Example: Toyota Robot • Designed for help in: hospitals, factories, and around the home • Has 17 joints in one hand and arm (mimics human arm) • Combines control and gate algorithms with high complexity and accuracy of components. • Dexterous enough to play violin
- 72. Example: Big Dog • Coordination provided by gait algorithm – Controls posture and movement – Feedback from ground sensors controls load balance • Combination of feedback control and desired motion algorithm • Uses hydraulics for actuation
- 73. Actuator Trade Study Shape Memory Alloy Stepper Motor/Lead Wire Bundle Actuators Screw Actuators Bundle of two 250 um Haydon Kerk 35000 Nitinol wires Stepper Motor Lead Screw Actuator
- 74. Actuator Trade Study Shape Memory Alloy Stepper Motor/Lead Wire Bundle Actuators Screw Actuators Very Low Actuator Higher Actuator Weight Weight Very bad actuator speed Fine actuator speed control control Non‐variable actuator Speed and force force inversely proportional High waste heat Lower waste heat
- 75. Control Complexity SMA Actuators Stepper Motor Actuators Low precision, more High precision, simpler complex control control algorithms algorithms Discrete digital control, Highly non‐linear very linear operation operation No hysteresis High degree of hysteresis
- 76. Actuator Force Vs. Supplied Power Bundle of two 250 um Haydon Kerk 35000 Nitinol wires Stepper Motor Lead Screw Actuator Actuation Force = 53.4 N Actuation Force = 175 N Supplied Power = 14.5 W Supplied Power = 11.5 W => F/P = 3.68 N/W => F/P = 15.9 N/W (SMA F/P) / (Motor F/P) = 4.12
- 77. Overall System Benefits Shape Memory Alloy Traditional Actuators Actuators Lower battery mass Lower actuator mass More precise actuator More compact actuators control Simpler control algorithms More efficient operation
- 78. Robots Grappling With Human Agility Debate Group 4: Joe McCabe Mikael Pryor
- 80. STIFF • Muscles and tendons – Humans have joints – Actuated through co- contraction and adaptive reflex gains – More robust, versatile, and agile than joints, gears, and links • More grace and power http://stiff-project.eu/
- 81. Manufacturing of Old • Robot arms consisting of joints, gears, and links are dangerous – Mass and speed result in dangerous momentum – Have to be kept in a cage to prevent injuries to human counterparts • Designed for specific tasks – Very precise, but at a high cost of having few applications Patrick van der Smagt *, Markus Grebenstein, Holger Urbanek, Nadine Fligge, Michael Strohmayr, Georg Stillfried, Jonathon Parrish, Agneta Gustus. Robotics of human movements
- 82. Flexible Manufacturing • The ability to learn from situation based fine- tuning of the end-effector position – Can be used for more applications • Less Weight, more sensors, and still powerful – Less dangerous to humans – Able to interact with the environment and adapt by reacting to sensor data • Less prone to failure Patrick van der Smagt *, Markus Grebenstein, Holger Urbanek, Nadine Fligge, Michael Strohmayr, Georg Stillfried, Jonathon Parrish, Agneta Gustus. Robotics of human movements
- 83. Where No Man Can Reach • Flexible manipulators can be used in nuclear power plants – Due to being less prone to failure – Actuation can be done with parts that are less likely to fuse • Sensors can prevent manipulators from running into themselves • Manipulators can reach areas unattainable with joints, gears, and links. – Since this is done through fine-tuning, singularities in joint space are not an issue