COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

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COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis
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Transcript of COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Page 1: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

COMP 14: Computer Science, Robotics, Artificial Intelligence

June 22, 2000Nick Vallidis

Page 2: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Announcements

P6 is due tomorrowTomorrow is a review class - bring

questions you want answered!!!!

Page 3: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Today

What does a computer scientist do?RoboticsArtificial Intelligence

Page 5: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Where do we work?

There are basically three places that use computer scientists: Academia - colleges and universities for

teaching and research Research institutions - NASA, plus other

companies that do research (Microsoft, Bell Labs, etc.)

Industry - programmers (writing the software that people use on their computers)

Page 6: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Robotics

a robot is basically a mechanism that operates under computer control

The main purpose they serve these days is to do boring, repetitive tasks

The fun ones are research robots and that's what I'll talk about

Page 7: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Basic Robot

Has three parts:

Reads sensors to understand environment

Computes what to do based on sensorsUses actuators to do it

Sensors Computer Actuators

Page 8: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Sensors & Actuators

Many possible sensors: video cameras tilt sensors force sensors

Many possible actuators: Electric motors Hydraulics Pneumatics

Page 9: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Mobile Robotics

All the stuff I've done is in the field called Mobile Robotics. means that robot can move around on its

own power as opposed to most industrial robots, which

are giant arms bolted to the floorThere are two types of mobile robots:

walking robots wheeled robots

Page 10: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Examples, examples

We'll do this by example…Robots I worked on at Carnegie

Mellon: Daedalus Lunar Rover (Nomad) Black Widow

Robot I worked on at NASA: Dexter

Page 11: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Daedalus

Designed to be a planetary explorer

Page 12: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Daedalus

an example of a frame walker

Frame 1:

Frame 2:

Legs

Page 13: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Nomad

Designed to test ideas for a commercial trip to the moon (LunaCorp)

Page 14: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Nomad

Went to the Atacama desert of ChileSearched for meteorites in Antarctica

Is a wheeled robotSuper-cool collapsible steering

mechanismVideo

Page 15: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Dexter

Test robot for doing low-power legged locomotion

Video

Page 16: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Black Widow

My senior thesis research project

Page 17: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Black Widow

Patterned somewhat after an insect (leg length, number of legs)

Patterned somewhat after a crab

Purpose was to try out walking algorithms.

I tested out a training method for neural networks

Page 18: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Artificial Intelligence

Attempts to understand and build intelligent entities

Four different definitions of AI: acting humanly (the Turing Test) thinking humanly thinking rationally acting rationally (this is the goal of

robotics)

Page 19: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Problems that require AI

Natural Language Processing make a computer understand English

Machine Learning change behavior based on experience

Perception of a visual scene be able to pick out people, objects, etc.

Robotics! navigation, accomplishing tasks, etc.

Page 20: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

AI Techniques

Some that you've probably heard of: Neural Networks Genetic Algorithms Fuzzy Logic

Others that are popular: Reinforcement learning Probabilisitic reasoning Search techniques

Page 21: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Neural Networks

Based on animal nervous systems:

Page 22: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Neural Network Neuron

Input Links(from other neurons)

WeightedSum

ActivationFunction

Output Links(to other neurons)

Page 23: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

A Simple Neural Network

Output

Input

Input

Page 24: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Training Neural Networks

That was Black Widow's neural network to keep the body level.

To train (decide the weights to use in the weighted sums) a NN, you have to give it LOTS of examples

Traditionally, these are generated in simulation or by people I made the robot do the work...

Page 25: COMP 14: Computer Science, Robotics, Artificial Intelligence June 22, 2000 Nick Vallidis.

Review tomorrow

BRING QUESTIONS!!!!!