ME 562

TODAY'S AGENDA LECT 1

• COURSE PHILOSOPHY
  • TEXT RECONNAISSANCE
• OVERVIEW OF ROBOTICS
• COURSE OBJECTIVES
• COURSE OUTLINE
• ERRATA
• THEMES
• CHANGES FROM LAST YEAR

TODAY'S AGENDA -2

• STATE OF AUTOMATION
  • FLEXIBLE FACTORY REVISITED
• KNOWLEDGE AND LEARNING
  • MATTER OF STYLE
• DESIGN PROJECT _
• SPECIAL VISION PROBLEM
  • HOW DOES TH E VISION SYSTEM TRANSFORM THE INFORMATION ON THE CHIP TO A LOCATION IN THE WORLD COORDINATE SYSTEM? CH 3&9

HANDOUTS

• COURSE DESCRIPTION & OBJECTIVES
• COURSE OUTLINE
• SAFETY RULES
• HIERARCHICAL DECOMPOSITION OF ROBOTICS--P485
• http:1/27/97/www.ri.cmu.edu/ri-home /
  • AQ ROBOTICS
• http:1/27/97/www.industry.net/adept/
• IT TAKES A LIFETIME-1/2 LIFE OF GRADUATING ENGINEERS KN OWLEDGE?
  • NEED FUNDAMENTALS
• MATTERS OF STYLE --ISEE PRISM DEC 96

HANDOUTS --2

• TEACHING TO ALL T YPES -- ISEE PRISM DEC 96
• RETHINKING THE CURRICULUM -- ASEE PRISM DEC 94
• DISNEY'S INDIANA JONES RIDE UNEARTHS MORE ADVENTURE CHIC TRIB 4/2/95
• ERRATA
• LECTURE SLIDES
• KNOWLEDGE ACQUISITION AND REPRESENTATION
• THE FLEXIBLE FACTORY REVISITED -- AMERICAN SCIENTIST VOL 61 PP448-456
• BOEING ATTRIBUTES
• KINEMATICS FLOW CHART

INSTRUCTORS EVALUATION 1

• Demonstrates an understanding of written and oral directions.
• Demonstrates an interest in the subject beyond the scop e of the course.
• Demonstrates continued motivation.
• Demonstrates independent thought.

INSTRUCTORS EVALUATION 2

• Demonstrates ability to abstract and integrate information.
• Demonstrates ability to view information and issues from multiple perspectives.
• Demonstrates an ability to apply algorithmic and problem solving processes.
• Demonstrates growth in abstracting mathematical ideas and concepts.

SAFETY PROCEDURES_

• SAFETY IS PARAMOUNT_
• DO NOT HAVE ANY PART OF YOUR BODY IN THE WORKSPACE
• VIOLATIONS OF SAFETY RULES WILL RESULT IN FAILURE OF ME562

TEXTBOOK ERRATA

• ALL BOOKS HAVE TYPOS AND PROBLEM ERRORS
• HERE IS WHAT I HAVE FOUND

THEMES

• ROBOTICS = MANIPULATION, PERCEPTION & COGNITION
• NEW ENGINEERING PROCESS = FUNDAMENTALS, COMPUTER SIMULATION, EMPIRICAL_ VERIFICATION, REAL WORLD EXAMPLE ( IDEAL)
• ENGINEERING IS NOT PROBLEM SOLVING BUT DECISION MAKING (CPPD)
• REALIZATION THAT FOR WEALTH CREATION YOU GROW IT, MINE IT OR MANUFACTURE IT
• WHO TEACHES CRITICAL THINKING
• DIGITAL CONVERGENCE
• BOEING ATTRIBUTES

CHANGES THIS YEAR

• VISION
• THEMES
• NEW ROBOTICS LAB-EMERSON ELECTRIC
• IN TRANSITION TO NEW LAB

AGENDA LECT 2-2

• MAKING ROBOTS SMARTER
• KEY POINTS CH1
• CHAPTER 2
• SUBSYSTEMS
• VEHICLES
• MANIPULAT OR ARMS
• END OF ARM TOOLING (EOT)
• ACTUATORS

WHY OVERVIEW?

• LIFE LONG LEARNING
  • HANDOUT
• NEW LEARNING PARADIGMS
• 20% TECH 80% POLITICAL
• CPPD & QFD
  • THROW OVER THE WALL ENDED
• STAR WARS SOFTWARE
  • PRODUCTIVITY TOOLS
  • POST TEXTURAL SOCIETY

PHILOSOPHY

• WHY TOPIC IS IMPORTANT
• MAKE A DIFFERENCE ON RESUME
• ACADEMIC V S REAL WORLD PROBLEM SOLVING
• INDUCTIVE/DEDUCTIVE_
• DEPTH VS BREADTH
• REAL TIME ACTIVITIES
• INSIGHT IN MANY DEVICES

WHY ROBOTICS

• INTELLECTUAL CURIOSITY_
• IDIOSYNCRATIC TENDENCY
• POSI TION ONESELF IN JOB MARKET
• SOLVE HUMAN PROBLEMS

ROBOTICS DISCIPLINE

• THE DESIGN , MANUFACTURE, CONTROL AND PROGRAMMING OF ROBOTS
• THE USE OF ROBOTS TO SOLVE PROBLEMS
• THE STUDY OF THE CONTROL_ PROCESSES, SENSORS, AND ALGORITHMS USED IN HUMANS, ANIMALS AND MACHINES
• THE APPLICATION OF THESE CONTROL PROCESSES AND ALGORITHMS TO THE DESIG N OF ROBOTS

ENGINEERING AND SCIENCE

ROBOTICS ENGINEERING IS CONCERNED WITH THE DESIGN , CONSTRUCTION, AND APPLICATION OF ROBOTS. WHILE ROBOTS ARE BUILT DURING THE COURSE OF SCIENTIFIC_ RESEARCH, THE GOAL IS NOT THE DEVELOPMENT_ OF MACHINES, BUT TO UNDERSTAND THE PHYSICAL AND INFORMATION PROCESS UNDERLYING PERCEPTION AND ACTION.

KEY POINTS CH1

• WHY STUDY ROBOTICS
• DEFINITION OF A ROBOT
• FROM AI PERSPECTIVE_
• SYSTEM DESIGN
• SOC IAL ISSUES
• UNDERSTANDING ALGORITHMS AND PROCESSES IS KEY

DEFINITIONS -2

• ANY DEVICE WHICH REPLACES HUMAN LABOR (JAPANESE)

A ROBOT IS A MACHINE WHICH CAN BE PROGRAMMED TO DO A VARIETY OF TASKS, IN THE SAME WAY THAT A COMPUTER IS AN ELECTRONIC CIRCUIT WHICH CAN BE PROGRAMMED TO DO A VARIETY OF TASKS; (MCKERROW P 8)

DEFINITIONS -3

A PROGRAMMABLE MULTI-FUNCTION MANIPULATOR DESIGNED TO MOVE MATERIAL, PARTS, OR SPECIALIZED DEVICES THROUGH VARIABLE PROGRAMMED MOTIONS FOR THE PERFORMANCE OF A VARIETY OF TASK. (ROBOT INST ITUTE OF AMERICA)

DEFINITIONS -4

A MECHANICAL SYSTEM WHICH HAS FLEXIBLE MOTIONS FUNCTION ANALOGOUS_ TO THE MOTION FUNCTIONS OF LIVING ORGANISMS OR COMBINES SUCH MOTION FUNCTIONS WITH INTE LLIGENT FUNCTIONS, AND WHICH ACTS IN RESPONSE TO THE HUMAN WILL. IN THIS CONTEXT, INTELLIGENT FUNCTIONS MEAN THE ABILITY TO PERFORM AT LEAST ONE OF THE FOLLOWING: JUDGMENT_, RECOGNITION, ADAPTION, OR LEARNING. (JAPANESE INDUSTRIAL STANDARD JIS B0134-197 9)

ROBOTICS COURSES AT PURDUE

• EE 567 - Microprocessor organization and principles of microprocessing
• EE 569 - Intro to robotic sys tems
• EE 570 - Programming techniques for AI
• EE 580 - Optimization methods for systems and control
• EE 585 - Real-time robot control lab
• EE 589 - State estimation and parameter identification of stocastic systems
• EE 582 - Control of robot manipulator_
• EE 683 - Computational robotics

CARNEGIE MELLON

• 30 ROBOTICS COURSES
• FIND ON THE INTERNET
• HOMEWORK SELECT TWO IN ORDER AND REPORT
• WHAT DO THE COURSES INTEND TO ACCOMPLISH ??

HISTORICAL PERSPECTIVE_

• 3000 BC - Egyptian water clocks
• 14 00's - Swiss and German android clocks
• 1800's - Industrial_ revolution
• 1943 - First computer ENIAC U of Penn
• 1948 - Transistor_ discove red
• 1961 - First servo controlled robot ( Devol patent)
• 1970 - First symposium on Industrial Robots
• 1974 - Cincinnati Milicron T3 robot and ASEA electric
• 1981 - SME/RI
• 1985 - Stagnation_ in sales

RAPIDLY CHANGING

• Blink and you ma y miss something
• Combination of engineering, economics, and social science -DECISIONS + PROBLEM SOLVING

Applications--- automated manufacturing; remotee xploration; mining; agriculture; prosthetic and biomedical; hazardous material handling; service-fire, servant, mail delivery etc; military

• Disklavier piano< /UL>

  BUSINESS LESSONS

  LEARN HOW TO GIVE FIRST-RATE PRESENTATIONS SO THAT THE MESSAGE YOU'RE TRYING TO DELIVER IS THE SAME ONE THE AUDIENCE RECEIVES. (#62)

  STATE OF AUT OMATION

  • Rapid changes in Technology
  • Rapid changes in Customer Demands
  • Lowest cost Producer
  • Reusable Machin es
  • Shorter Life-cycle of Product
  • Flexible Manufacturing Platform or Workstation
  • Japanese have shown us how to use technology. No longer "I've done this for 15 years.
  • Reliability and Accuracy of Products
  • Set-up Time
  • source: Berkeley process control summer 89

  GLOBAL ECON ISSUES

  • Export of jobs cutting issue
  • Nationalist vs. Globalists Replace Liberal vs Conservative
  • World class productive employees -han d calc vs. computer etc
  • Knowledge worker vs. manual worker
  • Knowledge navigator
  • Knowledge depth vs. knowledge breadth

  CYCLES

  • TECHNOLOGICAL CYCLES
    • MARTIN GISKE: 1893,1943,1993
  • END OF COLD WAR CRITICAL < LI>DIGITAL CONVERGENCE
  • NATIONAL ENGINEERS WEEK
    • LIFELONG LEARNING--VALUE; OBSOLESCENCE
    • M ULTI-DISCIPLINARY EXPERTISE
    • INTEGRATION INTO PRODUCT TEAMS

  SOCIAL-CULTURAL CYCLES

  • 4 TH AWAKENING OF AMERICA
    < LI>ROBERT FOGEL 1993 NOBEL ECON
    • 1. AM REVOLUTION_; 2. SLAVERY; 3. LABOR& CIVIL RIGHTS
    • 4. FAILED VALUES &FAILED PUBLIC POLICY
  • COMPASSION FATIGUE
  • CRIME
  • CHANGE IN ATTITUDE_ TOWARDS PEOPLE AND THINGS
  • MILLE NNIUM_ TIME OF REFLECTION

  WHY USE ROBOTS

  • Reduced labor costs
  • Elimination of dangerous jobs
  • Increa sed output rate
  • Improved product quality
  • Increased product flexibility
  • Reduced materials waste
  • Compliance with OSHA regulations
  • Reduced labor turnover
  • Reduced capital cost

  WHY KNOWLEDGE

  • KNOWLEDGE AND LEARNING ARE CENTRAL TO THE NEXT GENERATION OF ROBOTICS -- SPEED & ACCURACY
  • ARTIFICIAL INTELLIGENCE & NEURAL NETWORKS ARE NEXT FRONTIER OF ROBOTICS
  • AI MIMICS COGNITIVE PSYCHOLOGY PROCESSES IN THE BRAIN
  • NEURAL NETWORKS MIMICS THE BIOLOGY OF THE BRAIN
  • NEED TO BEGIN TO THINK ABOUT IT NOW

  KNOW LEDGE

  • KNOWLEDGE FOR THE SAKE A KNOWLEDGE VERSUS KNOWLEDGE TO SOLVE HUMAN PROBLEMS OF REAL WORLD PROBLEMS
  • NOT HOW YOU FEEL ABOUT THE COURSE WHEN YOU FILL OUT EVALUATION BUT HOW YOU FEEL 3 TO 5 YEARS LATER WHEN YOU ARE A PROFESSIONAL

  INTELLIGENT BEHAVIOR

  • PAGE 16 TEXT ESSENTIAL ABILITIES -1
  • TO RESPOND TO SITUATIONS VERY FLEXIBLY_;
  • TO TAKE ADVANTAGE OF FORTUITOUS SITUATION;
  • TO MAKE SENSE OUT OF AMBIGUOUS OF CONTRADICTORY MESSAGES;
  • TO RECOGNIZE THE RELATIVE IMPORTANCE OF DIFFERENT ELEMENTS OF A SITUATION;

  INTELLIGENT BEHAVIOR

  • ESSENTIAL ABILITIES -2
  • TO FIND SIMILARITIES_ BETWEEN_ SITUATIONS DESPITE DIFFERENCES WHICH M AY SEPARATE THEM;
  • TO DRAW DISTINCTIONS BETWEEN SITUATIONS DESPITE SIMILARITIES_ WHICH MAY LINK THEM;
  • TO SYNTHESIZE NEW CONCEPTS BY TAKING OLD CONCEPTS AND PUTTING THEM TOGETHER IN NEW WAY S;
  • TO COME UP WITH IDEAS WHICH ARE NOVEL.

  LEARNING 1

  • DISCOVERY BASED
  • INCUBATION PERIOD_
  • FLOW CHART OF SOLUTION
  • FOUNDATION MATERIAL
  • MATH AS A TOOL

  LEARNING -2

  • COMFORT ZONE
  • MIHALY CSIKSZENTMIHALYI
  • LESS IS MORE
  • INSIGHT INTO ALL EE/ME/COMP DEVICES
  • BLACK BOX SYNDROME
  • INFORMATION OVERLOAD

  KNOWLEDGE CHART

  KNOWLEDGE RETENTI0N
  

  COMFORT ZONE

  AGENDA LECT 3 -2

  • CHAPTER 2
    • SUBSYSTEMS
    • VEHICLES
    • MANIPULATOR ARMS
    • WRISTS
    • ACTUATORS
    • TRANSMISSION ELEMENTS
    • MATERIALS, SENSORS, CONTROLLERS
    • DESIGN

  TEXT RECONNAISSANCE_

  • GENERAL LAYOUT
  • ROAD MAP OF CHA PTERS
  • KEY NEW WORDS HIGHLIGHTED
  • KEY POINTS AT END

  ROBOT TECHNOLOGIES

  • HAND OUT

  COURSE FLOW CHART

  • HAND OUT

  DEFINITION OF ROBOTS

  • MANIPULATION, PERCEP TION, COGNITION (CMI)
  • ONE ARMED IMBECILE_
  • ANY OF THE MANLIKE MECHANICAL BEINGS MANUFACTURED BY ROSSUM IN KARL CAPEK'S PLAY "R.U.R." (WEBSTER_)

  CHAPTER 2

  • FOCUS ON COMPONENTS
  • MANY KEY DESIGN DECISIONS MUST BE MADE BEFORE ONE HAS A VIABLE ROBOT
  • ALL REVOLUT E ROBOTS ARE NOT THE SAME

  SUBSYSTEMS

  • MECHANICAL
  • ELECTRICAL
  • PROCESS
  • SENSOR
  • CONTROL
  • PLANNING

  VEHICLES

  • WHEELED VEHICLES
  • LEGGED VEHICLES
  • TRACKED VEHICLES
  • FLEXIBLE MANUFACTURING SYSTEMS
  • AUTOMATED GUIDED VEHICLES

  WHEELED VEHICLES

  • SIMPLE TO CONTROL_
  • STABILITY
  • ENERGY USE
  • SPEED POSSIBL E
  • NUMBER OF WHEELS
  • CONFIGURATION OF WHEELS
  • BOBCAT

  LEGGED VEHICLES

  • STEP OVER OBSTACLES
  • UP AND DOWN STAIRS
  • OVER TRENCHES
  • ROUGH GROUND
  • STABILITY
  • PO GO STICK HOPPING

  TRACKED VEHICLES

  • MILITARY
  • ROUGH TERRAIN

  LINKS AN D JOINTS

  • ROTATIONAL OR REVOLUTE
  • LINEAR OR PRISMATIC
  • RANGE OF MOVEMENT DEFINES THE WORKSPACE
  • DEGREES OF FREEDOM
  • 3 PROXIMAL LINKS (ARM)
  • 3 DISTAL LINKS (WRIST)

  MANIPULATOR ARMS

  • CARTESIAN
  • CYLINDRICAL_
  • POLAR
  • REVOLUTE
  • SKETCHES
  • WORK SPACE
  • ADVANTAGES/DISADVANTAGES

  COORDINATES

  • FRAMES OF REFERENCE
  • MOTOR COORDINATES (MICROBOT)
  • JOINT COORDINATES
  • WORLD COORDINATES
  • TOOL COORDINATES_
  • D EGREES OF FREEDOM

  WRISTS

  • LIKE HUMAN HAND (ROLL, PITCH, YAW)
  • GEARING
  • LOCATION OF MOTORS
  • DESIGN IS A COMPLEX TASK

  FEATURES OF WRISTS -1

  • SMALL
  • AXES CLOSE TOGETHER
  • TOOL PLATE CLOSE
  • SOLUBLE MATH MODEL
  • NO SINGULARITIES_
  • BACK DRIVABLE FOR TEACHING

  FEATURES OF WRISTS -2

  • DECOUPLING OF MOTION OF EACH AXIS
  • MOTORS LOCATED AWAY
  • PATH FOR CABLING
  • POWER FOR TASK
  • RUGGED HOUSING

  END EFFECTORS

  • END OF ARM TOOLING (EOAT)
  • GRIPPERS < LI>FINGERS
  • MICRO MANIPULATORS

  ACTUATORS OR MOTORS

  • PNEUMATIC, H YDRAULIC, ELECTRICAL
  • SERVO VALVES
  • COMPRESSIBILITY
  • SAFETY
  • POWER TO WEIGHT RATIO
  • < FONT SIZE=5 FACE="Helvetica">LOCATION

  ELECTRIC MOTORS

  • STABILITY,PRECISION,CONTROL
  • STEPPER
    • VARIABLE RELUCTANCE : LOW TORQUE, LOW INERTIA,RAPID ACCEL (SLEW RATE)
    • PERMANENT MAGNET; LOWER TORQUE, SLOWER ACCEL, ECONOMICAL
  • DC MOTORS
    • < FONT SIZE=4 FACE="Century Gothic">COMMON, TORQUE= CURRENT
  • BRUSHLESS DC MOTORS
    • COMPLEX, ELECT COMMUTATED

  TRANSMISSION ELEME NTS

  • GEARS, TENDONS, LINKAGES
  • DIRECT DRIVE
  • TRADE-OFFS
  • DYNAMIC RESPONSE, WEIGHT, FINE POSITIONING, BACKLASH, BACK DRIVING, FRICTION, WEAR

  SENSORS

  • ENTIRE CHAPTER
  • INTERNAL
  • EXTERNAL
  • CHAPTER 10

  MATERIALS

  CONTROLLERS

  CLASSIFICATION

  DESIGN PROCESS

  • COURSE TITLE INCLUDES DESIGN

  ENGINEERING DESIGN IS THE PROCESS OF APPLYING THE VARIOUS TECHNIQUES AND SCIENTIFIC PRINCIPLES FOR THE PURPOSE OF DEFINING A DEVICE, A PROCESS OR A SYSTEM I N SUFFICIENT DETAIL TO PERMIT ITS REALIZATION. DESIGN MAY BE SIMPLE OR ENORMOUSLY COMPLEX, EASY OR DIFFICULT, MATHEMATICAL OR NONMATHEMATICAL; IT MAY BE A TRIVIAL PROBLEM OR ONE OF GREAT IMPORTANCE

  PROBLEMS

  < LI>STRUCTURED--ACADEMIC
  • UNSTRUCTURED--REAL WORLD
  • DESIGN IS
    • UNSTRUCTURED
    • OPEN -ENDED
    • MULTIPLE SOLUTIONS
  • STRUCTURING THE UNSTRUCTURED_ PROBLEM

  ANALYSIS

  • ANALYSIS-- TO DECOMPOSE, TO TAKE APART, TO RESOLVE INTO ITS CONSTITUENT PARTS.
  • MUST DEFINE THE PROBLEM FIRST
  • TAKE YOU DOWN THE ROAD TO DESIGN NOT DO DESIGN

  A DESIGN PROCESS--1

  • ITERATION IS KEY
  • IDENTIFICATION_ OF NEED
  • BACKGROUND RESEARCH
  • GOAL STATEMENT
  • TASK SPECIFICATION
  • IDEATION AND INVENTION

  A DESIGN PROCESS--2

  • ANALYSIS
  • SELECTION
  • DETAILED DESIGN
  • PROTOTYPING AND TESTING
  • PRODUCTION
  • VIDEO OF AGV/ MOBILE ROBOT