BEAMPresentOOP
Upcoming SlideShare
Loading in...5
×

Like this? Share it with your network

Share
  • Full Name Full Name Comment goes here.
    Are you sure you want to
    Your message goes here
    Be the first to comment
    Be the first to like this
No Downloads

Views

Total Views
623
On Slideshare
623
From Embeds
0
Number of Embeds
0

Actions

Shares
Downloads
14
Comments
0
Likes
0

Embeds 0

No embeds

Report content

Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
    No notes for slide

Transcript

  • 1. BEAM Robotics
    • Biology
    • Electronics
    • Aesthetics
    • Mechanics
    Or: “Biological Electronic Aesthetic Mechanisms”
  • 2. Inspirations
    • Billions of years of design, fabrication, and in-field testing (bio-systems).
    • W. Grey Walter's “Tortoise” Robots, 1948. Analog, autonomous robots that exhibited emergent behavior.
      • Vehicles - Experiments in Synthetic Psychology , Valentino Braitenberg, 1984
      • Rodney Brooks' work at MIT AI Lab. The concepts of “Behavior-Based Robotics” and “Subsumption Architecture.”
  • 3. Rodney Brooks' Ideas
    • Behavior-Based Robotics:
      • No world-building (No map-making)
      • Reactive (Sense-Act vs. Sense-Plan-Act)
      • Bug-brained (No “Cognition Box”)
    • “Recipe” for BBR:
      • Do simple things first
      • Learn to do them flawlessly
      • Add new layers on top of successful ones
      • Don't change the simple things
      • Make new layers work as flawlessly as previous ones
      • Repeat as needed
  • 4. Brooks' Ideas (Con't)
    • Subsumption Architecture – An AI control architecture built upon behavior modules (state machines) organized into layers moving from the more basic (avoid an obstacle) to the more abstract (find a place to hide, i.e. a dark spot), with “higher order” layers able to subsume lower ones.
  • 5. Brooks' Ideas (Con't)
    • A bunch of working “dumb” bots is better than one broken smart bot.
    • "Planning is just a way of avoiding figuring out what to do next."
    • “Let the world reveal itself.”
  • 6. Key BEAM Concepts
    • Favors analog over digital control
    • K.I.S.S. (Appropriate tech, minimalism)
    • A human is way that a robot builds a better robot
    • BEAM Games (Evolution through competition)
    • Aesthetics drive interest (the art of robots)
    • Autonomy, Whenever possible, ASAP
    • Recycle, recycle, recycle
  • 7. Tilden's Laws
    • A robot must protect its existence at all costs.
    • A robot must obtain and maintain access to a power source.
    • A robot must continually search for better power sources.
    • Protect thy ass.
    • Feed thy ass.
    • Move thy ass to better real estate.
    - Better Known As -
  • 8. BEAM Schemes
    • The Nervous Net (Nv) – BEAM's answer to the Neural Net (Nu).
    • A real-time nonlinear analog control system emulating a low-level peripheral spinal system. Based on arrays of sequential RC (Resistor-Capacitor)-time-based pulse delay circuits in closed loops, an Nv net is any circuitry that can act as a medium for sustaining independent control processes.
    • Nv Neurons (Bicores, Quadcores, & Morecores)
    • A differentiating circuit element. In its simplest form, a Nv neuron is formed from a capacitor, resistor, and an inverter.
  • 9. BEAM Schemes (Con't) Example: Bicore – Most basic type of Nv Net with two “neurons” made of 2 caps, 2 inverters (Not gates), and 1 shared resistor.
  • 10. BEAM Schemes (Con't)
    • The Solar Engine – A simple circuit that collects energy through solar cells, stores it in a capacitor or battery, and then dumps it on a given condition (interval of time, voltage value, darkness, etc.)
    • Free-forming Circuitry – A minimalist construction scheme where electronic components are used as structural elements
    • “The street finds its own uses for things” - Design ingenuity, cool hacks, novel apps
  • 11. Tilden's VBUG 1.5
  • 12. Twin-Engine Solarroller
  • 13. Pummers
  • 14. Vibrobots