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The Age of Robotics

The Age of Robotics. Kevin H. Knuth, Ph.D. Departments of Physics and Informatics University at Albany.

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The Age of Robotics

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  1. The Age of Robotics Kevin H. Knuth, Ph.D. Departments of Physics and Informatics University at Albany

  2. “If every tool, when ordered, or even of its own accord, could do the work that befits it... If the weavers' shuttles were to weave of themselves, then there would be no need either of apprentices for the master workers or of slaves for the lords.” Aristotle, “De Republica Atheniensium”, ~322 BC

  3. Leonardo da VinciThe Father of Robotics Leonardo da Vinci1452-1519 Kevin H Knuth

  4. Leonardo’s Robot Based on da Vinci’s sketches from 1495The robot is a knight in German-Italian Medieval Armor Kevin H Knuth

  5. Leonardo’s AutomataA small wooden car, powered by springscould be programmed by inserting various cogs and gears. (Image: Institute and Museum of the History of Science, Florence) Kevin H Knuth

  6. The Dream of Robotics has long been with us… Maria from Fritz Lange’s Metropolis (1927) Kevin H Knuth

  7. The Dream of Robotics has long been with us… The Tin ManFrank L. Baum’sThe Wizard of Oz (1900 Book, 1939 Film) Robby the RobotForbidden Planet 1956 Kevin H Knuth

  8. And has changed with us… BenderFuturama (1999-Present) R2D2 and C3POStar Wars (1977) Kevin H Knuth

  9. Reality is always Stranger than Fiction… Opportunity currently on Mars Cassini in orbit around Saturn Kevin H Knuth

  10. And creeps up on us Unsuspectingly… Kevin H Knuth

  11. And creeps up on us Unsuspectingly… Kevin H Knuth

  12. How do we make them INTELLIGENT? Kevin H Knuth

  13. How Do We Function? Kevin H Knuth

  14. The Brain: The Living State of Matter • 1011-1012 Neurons • 104-105 Connections per Neuron • Maximum Firing Rate: 1 ms • 1kHz massively parallel computer • Information Processed on order of 100s ms • MUST use Prior Information The Virtual Hospital, Ch 5, Williams, Gluhbegovic, and Jew Kevin H Knuth

  15. A Powerful Computer • Hree is an ecxlelnet eaxmlpe of how yuor wnodreful mnid can raed tihs txet eevn touhgh its all jmbuled. Kevin H Knuth

  16. Sounds and Prior Information • Listen to these sounds… Sounds from Haskins Laboratories, Rubin, Remez, Pardo Kevin H Knuth

  17. Sounds and Prior Information • Now listen to this one… Sounds from Haskins Laboratories, Rubin, Remez, Pardo Kevin H Knuth

  18. Sounds and Prior Information • And now go back to this one… Sounds from Haskins Laboratories, Rubin, Remez, Pardo Kevin H Knuth

  19. Sounds and Prior Information • What about the rest? Sounds from Haskins Laboratories, Rubin, Remez, Pardo Kevin H Knuth

  20. Prior Information is Key • Only 10% of the inputs into primary visual cortex come from the retina via the lateral geniculate nucleus. The rest come from higher visual and frontal areas. • Perception can also be modified by attention. • Thus the brain can actively focus on relevant information. Human Brain: basal view (front at top)The Virtual Hospital, Ch 5, Williams, Gluhbegovic, and Jew Kevin H Knuth

  21. The Brain Models its Environment • The frontal regions of the braincreate models of the world basedon prior experience. Thesemodels affect perception and attention. • In addition, the brain modelsitself. • Experiments in multi-sensoryprocessing has shown thatthe information processing is consistent with Bayes Theorem The Virtual Hospital, Ch 5, Williams, Gluhbegovic, and Jew Kevin H Knuth

  22. Thinking Machines Your frontal lobes carry a model of yourself that is continually updated from data received from a dense sensor network. This implements both ‘Instrument Health Monitoring’ and ‘Calibration’ You learn from new data by updating your model of the world. You actively seek new data by asking relevant questions. Kevin H Knuth

  23. Body and Brain form a Symbiotic Unit Kevin H Knuth

  24. Relevant Information Kevin H Knuth

  25. Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  26. Free Examination Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  27. Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  28. Estimate Ages of the People Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  29. Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  30. Remember their Clothes Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  31. Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  32. Estimate Material Circumstances Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  33. Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  34. How Long has the Visitor been away? Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  35. Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) Kevin H Knuth

  36. Do We Analyze Everything? Kevin H Knuth

  37. http://viscog.beckman.uiuc.edu/grafs/demos/15.html Kevin H Knuth

  38. Inattentional Blindness • http://viscog.beckman.uiuc.edu/grafs/demos/15.html • http://viscog.beckman.uiuc.edu/grafs/demos/10.html • http://viscog.beckman.uiuc.edu/grafs/demos/12.html Kevin H Knuth

  39. AUTOMATED INQUIRY Kevin H Knuth

  40. Spirit and Opportunity: Remote Science More and more are our instruments required to perform science operations further from the intervention of humans. Dust devils whip across Gusev Crater on Mars Kevin H Knuth

  41. The Expansive Floor of Gusev Crater Kevin H Knuth

  42. Rock Outcrop (Methuselah) Kevin H Knuth

  43. Underwater Robotic Explorers • At the Monterey Bay Aquarium Research Institute (MBARI), researchers are employing robotic submarines to explore the Deep Pacific Ocean. Kevin H Knuth

  44. Intelligent Autonomous Instruments • Require: • Stability Control • Instrument Health Monitoring • Automated Calibration • Accurate Onboard Data Analysis • Adequate Data Coverage • Ability to Actively Seek Data Kevin H Knuth

  45. Novel Instrument Design To accomplish these goals, these novel instruments must Monitor their own state (health and calibration) • Infer their state from self-sensing • Be equipped with dense sensor networks • Infer calibration parameters Learn from data • Make inferences from data • Perform hypothesis testing Ask new questions • Actively seek new data • Select optimal experiments Kevin H Knuth

  46. The Basic Components Kevin H Knuth

  47. The LEGO Mindstorms NXT System The NXT Brick is the brain of the system. 1 2 Touch Sensor 3 Microphone 4 Light Sensor UltrasonicRangefinder 5 $250! Servo Motors 6 Kevin H Knuth

  48. Lego teams with HiTecnic NEW! PrototypeBoard Accelerometer Color Sensor Digital Compass Sensor and Motor Multiplexers Kevin H Knuth

  49. Robotic Scientists This robot is equipped with a light sensor. It is to locate and characterize a white circle on a black playing field with as few measurements as possible. LANDMINE DETECTION! Kevin H Knuth

  50. The Robot’s “Thoughts” Past Measurement LIGHT Next Measurement Past Measurement DARK Mean Circle Set of Hypothesized Circles Area within Robot’s Reachcolored according to ENTROPY Robot Center Kevin H Knuth

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