Introduction to Special Topics Intelligent Robotics

1. Introduction to Special TopicsIntelligent Robotics CIS480 January 16, 2007

2. Basic Definitions • Artificial Intelligence • Study intelligence • Apply – design intelligent systems • to better serve mankind Kutztown University

3. Basic Definitions • Robot • Embodied • Autonomous • Agent • Intelligent robot • + Intelligent Kutztown University

4. Embodied • Situated • Located in the world • Sensor (receptor) • Receive “raw” information about world • Effector (actuator) • Accomplish an action • with respect to self • with respect to world • “one who brings about a result or event; one who accomplishes a purpose” Kutztown University

5. Autonomous • Autos :: self • Nomos :: law • Definition • Self-governing • Note: The term cybernetics stems from the Greek Κυβερνήτης (kybernetes, steersman, governor, pilot, or rudder — the same root as government). • Independent in mind or judgment • Self-directing • Not controlled by others or outside forces Kutztown University

6. Agent • Definition • One that acts or has power/authority to act • One that represents another • Root meaning – one that acts or exerts power • Means of effecting a result • Software agent (David Croft) • Delegacy – discretionary authority • Competence • Amenability – ability to adapt • Software resident Kutztown University

7. Intelligence • Many definitions • MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks . . . Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning.” • Einstein: “Imagination is more important than knowledge.” • Henk Tuten: “complex use of creativity” Kutztown University

8. Intelligence • Another view • Creative simplicity • Examples • Every mileage divisible by 3000 • Cutting the Gordian knot • Efficient use of cars Kutztown University

9. Robot “Primitives” – Murphy • Sense • Plan • Act • Perhaps a 4th – Learn Kutztown University

10. Origin of Robot Basics • Serve  Act • Autonomous  Sense Kutztown University

11. Origin of Robot Basics • The most basic :: • Act • Sense Kutztown University

12. Origin of Robot Basics • Serve  Act • Autonomous  Sense • Changing environment  Plan • Plan  Reason • Plan  Represent knowledge • Knowledge  Learning Kutztown University

13. Robot Basics • Sense • Act • Represent knowledge • Reason • Learn Kutztown University

14. Central Issues of A.I. • Knowledge representation & reasoning Kutztown University

15. Chapter One I. Robotic Paradigms 1. From Teleoperation to Autonomy 1.1 Overview 1.2 How Can a Machine Be Intelligent? 1.3 What Can Robots Be Used For? 1.3.1 Social implications of robotics 1.4 A Brief History of Robotics 1.4.1 Industrial manipulators 1.4.2 Space robotics and the AI approach 1.5 Teleoperation 1.5.1 Telepresence 1.5.2 Semi-autonomous control 1.6 The Seven Areas of AI 1.7 Summary Kutztown University

16. Paradigm • Linguistics • A pattern of conjugation or declension to memorize which serves as a template for a class of words. • Thomas Kuhn • Shared scientific theories • Common methods of solving problems • Common norms for scientific activity • Shared metaphysics • Current usage • Example, pattern • Conjugation, declension • Theoretical framework Kutztown University

17. Paradigm – current usage • Merriam-Webster: Main Entry: par·a·digmPronunciation: 'per-&-"dIm, 'pa-r&- also -"dimFunction: nounEtymology: Late Latin paradigma, from Greek paradeigma, from paradeiknynai to show side by side, from para- + deiknynai to show -- more at DICTION1: EXAMPLE, PATTERN; especially: an outstandingly clear or typical example or archetype2: an example of a conjugation or declension showing a word in all its inflectional forms3: a philosophical and theoretical framework of a scientific school or discipline within which theories, laws, and generalizations and the experiments performed in support of them are formulated; broadly: a philosophical or theoretical framework of any kind Kutztown University

18. The Structure of Scientific Revolutions • Stanford Encyclopedia of Philosophy :: “one of the most cited academic books of all time” • Development of “science” • Not • Steady cumulative progress • Ever closer approximation to “truth” • Normal phase • Revolutionary (extraordinary) phase Kutztown University

19. Phases of Science • Normal • Ruling paradigm  High degree of conceptual uniformity • Steady progress in: • Accretion of knowledge • Solving existing “puzzles” • Pre-revolutionary :: mounting set of anomalies • Revolutionary :: paradigm shift • Alternative paradigm(s) proposed • Period of competition • Resolution – old paradigm dies out Kutztown University

20. Norwood Russell Hanson • Observation is theory-laden • Observation language and theory language deeply interwoven • Historical & contemporary comprehension deeply interwoven • Sought logic of discovery • Note :: key issues for robotics Kutztown University

21. Patterns of Discovery • Norwood Russell Hanson • Perception is theory-laden • Rock or clump of algae? • Optical illusions • Duck or rabbit? • Wiki article • Triangle puzzle • Ệ theoretical incommensurability • Hanson • Kuhn Kutztown University

22. Theory-laden-ness • Gestalt shift • From sensor data to percept • Role of theory • Pre-process sensor data • Organize percepts • Basis of discovery plans • Reasoning • Deduction (includes mathematical induction) • Induction • Abduction Kutztown University

23. Theory-laden-ness Examples • Recognition • Embodied • Autonomous • Agent • Critical nature of perceptology • Shadow vs. cliff • Rock vs. algae • The Measures Taken, Brecht Kutztown University

24. Logos-telos-teleios Triad • Design • Basic components • Teleology • Component interaction Kutztown University

25. Logos-telos-teleios Triad • Design – the oft missing component in software • Basic components • Logos – logic, internal structure, organizing principle • Telos – goal, purpose, objective, aim, function, intention, reason • Teleios – complete, finished, mature, perfected Kutztown University

26. Teleology • The philosophical study of purpose • The triad’s central relational kernel Kutztown University

27. Component Interaction • Reference • Logos • Mind, understanding • Comprehend need • Generate purpose • Create design • Determine level of achievement • Telos • Provides focus • Provides measure of efficacy of design • Teleios • Circumscribes design • Measures artifact utility Kutztown University

28. Knowledge Representation for Intelligent Agents Fall ’06 ppt Kutztown University