Robotic Systems

Trends, Research, Future

CSCi 338 :: Distributed Systems :: Fall 2005

Aleksandar Stefanovski

Fall 2005 Distributed Systems :: CSCi 338

What are Robots?

“A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks"

- Robot Institute of America, 1979

Fall 2005 Distributed Systems :: CSCi 338

Autonomous Robots

Machines that can: Perceive

constantly know the state of the environment

Reason use of cognition decision making

Act autonomously carry out tasks react to the environment

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Industrial robot systems To achieve high-quality and cost-effective flexible

manufacturing and logistics in all major industrial branches

Service robots To be found in all domains of our life: in domestic and

leisure environments, in health and rehabilitations, in professional services and in hazardous environments

Space and Security robots Concerned with the use of robots in land, sea, subsea,

air, space and crisis or civil security management missions

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Industrial robot systems Manufacturing:

automotive and truck manufacturing construction agriculture aerospace marine consumer products electronic and telecommunications products furniture and more.

Service robotsSpace and Security robots

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Industrial robot systems Used for:

welding (arc & spot welding), material handling, pick and place,

loading/unloading machine tending, packaging, cutting (plasma cutting, router cutting) grinding

Service robotsSpace and Security robots

Fall 2005 Distributed Systems :: CSCi 338

Trends in RoboticsIndustrial robot systemsService robots Professional applications

Medicine, Mining, Search and rescue Domestic use

Vacuum cleaners Entertainment

Sony AIBO, Honda ASIMO Soccer

Space and Security robots

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Industrial robot systemsService robotsSpace and Security robots

Autonomous Land Robots Autonomous Land Robots Unmanned Ground/Air/Sea VehiclesUnmanned Ground/Air/Sea Vehicles Assembly & Repair in SpaceAssembly & Repair in Space Planetary ExplorationsPlanetary Explorations

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Fall 2005 Distributed Systems :: CSCi 338

Trends in Robotics

Fall 2005 Distributed Systems :: CSCi 338

Research & Development

Overlaps in all application areas:Industrial robot systemsService robotsSpace and Security robots AI communication (remote) control & coordination precision distribution sensor networks

Fall 2005 Distributed Systems :: CSCi 338

Distributive Systems

Control and Coordination

Fall 2005 Distributed Systems :: CSCi 338

Distributive Systems

Control and Coordination

Autonomous vs Remote ControlTele-robotics PDA-base control Laptop/Desktop

Relative proximity (on the field) No proximity

(room/city/country/continent) via the Internet

Fall 2005 Distributed Systems :: CSCi 338

Technology Challenges

Manipulation and GraspingManipulation and Grasping Very flexible and dexterous arms with a

payload/weight ratio 1:1

Autonomy and dependabilityAutonomy and dependability Autonomous and safe behavior for robots acting in

everyday environments and coping with a wide set of tasks in all operational modes

Detect unforeseen situations and recover into a controlled state (ex. Wireless robot lost in 9/11 rescue because no recovery mechanism)

Intuitive human-robot interactionIntuitive human-robot interaction Transfer of information and instructions of tasks,

skills, objects, environment, etc…

Fall 2005 Distributed Systems :: CSCi 338

Technology Challenges

Sensing and controlSensing and control Be aware of the environment: detect objects

and people, monitor processes,

Intelligent distributed environmentsIntelligent distributed environments Agents of physical action for delivering,

individually or collectively as a group, new capabilities, applications and services

Mechatronic design and Mechatronic design and miniaturizationminiaturization

Fall 2005 Distributed Systems :: CSCi 338

Components

ActuatorsActuators Robot arms, motor systems, etc.

SensorsSensors 3D, tactile, force/torque, heat Range; Imaging; Proximity; Orientation;

Contact; Internal; Communications…

Processing and communicationsProcessing and communications

Man-machine-interfacesMan-machine-interfaces Input/output, graphics, virtual environment

Fall 2005 Distributed Systems :: CSCi 338

Robotics Research

Space and Naval Warfare (SPAWAR) Space and Naval Warfare (SPAWAR) Systems Center, San DiegoSystems Center, San Diego “Autonomous Mobile Communication Relays” “Challenges for deploying man-portable robots into

hostile environments”

Robotics InstitutesRobotics Institutes Stanford Carnegie Mellon University of Southern California Massachusetts Institute of Technology

Fall 2005 Distributed Systems :: CSCi 338

Robotics Research of Interest

Self-organizing robotic networksSelf-organizing robotic networks

Distributed multi-robot systemsDistributed multi-robot systems

Challenges of planetary robotic Challenges of planetary robotic explorationsexplorations Mapping and exploration of unknown Mapping and exploration of unknown

environmentsenvironments Probabilistic RoboticsProbabilistic Robotics

Robotic Systems

Trends, Research, Future

Questions and AnswersQuestions and Answers

CSCi 285 :: Information Policy :: Fall 2004