SLIDES SET NUMBER 1.

1. SLIDES SET NUMBER 1.

2. Class 478/578: General 1 • My name is Marek Perkowski • You can call my Marek, or Dr. Perkowski or whatever you like. • This class is fun, at least for me. • I hope that you will have fun also. • We build practical robots – embedded systems • Class is graded based on practical achievements, a little bit similar to Capstone Project. • You can find all information on my webpage, find me through Google.

3. Class 478/578: General 2 • If you are a graduate student your project is more difficult, otherwise the same. • Two homeworks and Project • No exam. • Student presentations (related to homeworks or projects) • I expect high quality of reports (many graduate students had publications based on these reports) • Robots connected to Internet (demo and explanation next Thursday).

4. Class 478/578: grading • Homework 1 – 10 % (evolutionary algorithms and foraging) • Homework 2 – 10 % (any subset of your project) • Presentation – 10 % • Project – 70 % • Groups – 1 to 5 students, group leader. • In final report, each student has a separate part to demonstrate his/her work. • Each student presents a separate presentation of his work.

5. Class 478/578: book • Braunl. • You can find slides to this book on internet • Book was ordered early but it must be reprinted “on demand”. • If you have no book, do not worry. All is in my slides. • Somebody told me that PDF of all text is also on internet • Slides of my class on my webpage – look for “Embedded Robotics” on my main webpage. • To find my webpage do search on Google “Marek Perkowski”

6. Class 478/578: yourbackground • Programming • Matlab • C • C++ • Java • Some basic digital design and interfacing experience (only in some projects) • Some basic math, Boolean Algebra, probability. • Digital Signal Processing, Image Processing (for some projects, will be covered in debth in ECE 479 next quarter)

7. Class 478/578: yourbackground review • Boolean functions, gates and circuits • Finite State Machines • Probabilistic State Machines • Grammars • Linked Lists • Arduino

8. Class 478/578: yourbackground information Please give me today the following information: • Your first name, last name and contact (email, phone) • Do you want to be on my Facebook – send me message on Facebook. • Programming classes you have taken. • Programming projects you have done. • Robot projects you have done. Please write more. • Any hardware projects you have done, like fixing a radio or a computer, building a FPGA controller etc. • Your background (hardware, software, art, physics, math, biology, etc) • Are you a graduate or undergraduate student. • For each of three areas: theory, programming and practical robot building, write percentages of your project’s grade (I am not sure I will be able to take this into account in every case) • Do you prefer to work alone or in a team for this class?

9. Class 478/578: yourbackground information Please give me today the following information: • Your first name, last name and contact (email, phone) • Do you want to be on my Facebook – send me message on Facebook. • Programming classes you have taken. • Programming projects you have done. • Robot projects you have done. Please write more. • Any hardware projects you have done, like fixing a radio or a computer, building a FPGA controller etc. • Your background (hardware, software, art, physics, math, biology, etc) • Are you a graduate or undergraduate student. • For each of three areas: theory, programming and practical robot building, write percentages of your project’s grade (I am not sure I will be able to take this into account in every case) • Do you prefer to work alone or in a team for this class?

10. Class 478/578: Projects and Lab • Meeting with Chris Clark • Meeting with class TA • Webpages with previous projects • Interfacing to internet • Lab keys (cards)

11. Class 478/578: Projects for this year • Dancing hexapods • Foraging hexapods • Robot Theatre • Sustainable Robot for advertising • Robot Guide for PSU • Robots controlled by iPhones, Ipads, etc. • Advanced theories for robotics (only for individual graduate students)

12. EMBEDDED SYSTEMS

13. Textbook: • T. Bräunl Embedded Robotics, Springer 2003

14. Plan of class • Week 1: • Servo programming • Evolutionary algorithms • Week 2: • Humanoid Robots • Models of robotics • Mapping, grammars, automata, probabilistic, Braitenberg Vehicles, natural language, logic based learning.

16. 1.1 Definition • Definition for: embedded system • A combination of hardware and software which together form a component of a larger machine. • An example of an embedded system is a microprocessor that controls an automobile engine. • An embedded system is designed to run on its own without human intervention, and may be required to respond to events in real time. • Source: www.computeruser.com/resources/dictionary

17. Applications Areas

18. Application Areas • TV • stereo • remote control • phone / mobile phone • refrigerator • microwave • washing machine • electric tooth brush • oven / rice or bread cooker • watch • alarm clock • electronic musical instruments • electronic toys (stuffed animals,handheld toys, pinballs, etc.) • medical home equipment (e.g. blood pressure, thermometer) • … • [PDAs?? More like standard computer system] Consumer Products

19. Application Areas • Medical Systems • pace maker, patient monitoring systems, injection systems, intensive care units, … • Office Equipment • printer, copier, fax, … • Tools • multimeter, oscilloscope, line tester, GPS, … • Banking • ATMs, statement printers, … • Transportation • (Planes/Trains/[Automobiles] and Boats) • radar, traffic lights, signalling systems, …

20. Application Areas • Automobiles • engine management, trip computer, cruise control, immobilizer, car alarm, • airbag, ABS, ESP, … • Building Systems • elevator, heater, air conditioning, lighting, key card entries, locks, alarm systems, … • Agriculture • feeding systems, milking systems, … • Space • satellite systems, …

21. Application Areas • Facts: • 1997: The average U.S. household has over 10 embedded computers (source: www.it.dtu.dk/~jan) • 1998: 90% Embedded Systems vs. 10% Computers • (source: Frautschi, www.caliberlearning.com) • 2001: The Volvo S80 has 18 embedded controllers and 2 busses (source: Volvo)

22. Automobiles

25. Robot Metaphors and Models

26. Animatronic “Robot” or device brain effectors

27. Perceiving “Robot” brain sensors

28. Reactive Robot is the simplest behavioral robot Brain is a mapping sensors effectors This is the simplest robot that satisfies the definition of a robot

29. Reactive Robot in environment ENVIRONMENT is a feedback brain sensors effectors This is the simplest robot that satisfies the definition of a robot

30. Braitenberg Vehicles and Quantum Automata Robots

31. Another Example: Braitenberg Vehicles and Quantum BV

32. Braitenberg Vehicles

33. Braitenberg Vehicles: Homework 1 idea • Can you think about other robot behaviors? • Can you develop software for robots with other mechanics/kinematics but the same emergent principles? • Design circuits for switchable behaviors: like sound that switches from shy to aggressive robot.

34. Emotional Robot has a simple form of memory or state Brain is a Finite State Machine sensors effectors This is the simplest robot that satisfies the definition of a robot

35. Behavior as an interpretation of a string • Newton, Einstein and Bohr. • Hello Professor • Hello Sir • Turn Left . Turn right. behavior

36. Behavior as an interpretation of a tree • Newton, Einstein and Bohr. • Hello Professor • Hello Sir • Turn Left . Turn right. behavior Grammar. Derivation. Alphabets.

37. Our First Base Robot Architecture and Designs

38. Neck and upper body movement generation

39. Robot Head Construction, 1999 High school summer camps, hobby roboticists, undergraduates Furby head with new control Jonas We built and animated various kinds of humanoid heads with from 4 to 20 DOF, looking for comical and entertaining values.

40. Mister Butcher Latex skin from Hollywood 4 degree of freedom neck

41. Robot Head Construction, 2000 Skeleton Alien We use inexpensive servos from Hitec and Futaba, plastic, playwood and aluminum. The robots are either PC-interfaced, use simple micro-controllers such as Basic Stamp, or are radio controlled from a PC or by the user.

42. Technical Construction, 2001 Details Marvin the Crazy Robot Adam

43. 2001 Virginia Woolf heads equipped with microphones, USB cameras, sonars and CDS light sensors

44. 2002 BUG (Big Ugly Robot) Max Image processing and pattern recognition uses software developed at PSU, CMU and Intel (public domain software available on WWW). Software is in Visual C++, Visual Basic, Lisp and Prolog.

45. Visual Feedback and Learning based on Constructive Induction 2002 Uland Wong, 17 years old

46. 2002, Japan Professor Perky Professor Perky with automated speech recognition (ASR) and text-to-speech (TTS) capabilities • We compared several commercial speech systems from Microsoft, Sensory and Fonix. • Based on experiences in highly noisy environments and with a variety of speakers, we selected Fonix for both ASR and TTS for Professor Perky and Maria robots. • We use microphone array from Andrea Electronics. 1 dollar latex skin from China

47. Maria, 2002/2003 20 DOF

48. location of head servos Construction details of Maria skull • location of controlling rods • location of remote servos Custom designed skin

49. Animation of eyes and eyelids

50. Cynthia, 2004, June