Why robots? Robots are part of our live, industrial robots, toys etc. they are already there and reearch is doing a lot to increase their appearance Why programming robots? Someone has to tell them hat to do. Some Examples: Science Fiction, everybody knows robots like I,robot or the terminator. But there are some cultutrale diferences. While robots in western world are mostly appear as dangeours machines, in eastern culture they have a soul and are firndly and help man. Some words about the definition, so we talk about the same stuff. Not only I,robot like machines are robots in our understanding. Every machine capable of sensing and acting / reacting is a robot. Following this definition let‘s build a robot.
Pur robot needs a brain. So lets take a C or a laptop. They are battery powered, so suiatable for autonomous usage. They offer a great functioanllity, which I can programm (most of the imes easy) and they offer a lot of extensibility. You can attach other devices etc. Sime drawbacks of PCs or Laptops: they are to big in sizez or to heavy (picture of ER1) Looking for something better: OQO, small, mobile energy saving cpu and does not weight a lot!
Lets have a look inside the OQO: Ther eare … And on the system can run a fully Windows Professional XP with all the capabilities. So it IS a really cool piece of hardware.
Ok, now we are looking for some parts for our robot. PErsonally I am getting bored of soldern. Lets take off the shelf components. Phidgets ARE THE SOLUTION: electronic parts. Sensors as well as actuators can be connected to the USB port directly. Remind the defninition. Sensonrs and actuators: we can build a robot out of this parts. Still, Phidgets are not suitable for building the brain of the robot. Ok, lets take the OQO instead. Let‘s try and connect them together.
Presented by: Alexander BraendleMy Robot Andreas HeilMaking Programming simple! Date 12 Dec 2005
Intelligent EnvironmentsIntelligent Environments are all places where humans spend timeThey shall act intelligently & personalized in a natural way with thehumans in them. Bringing the physical and digital world together Designed for humans! Make it simple! Make it work!
Some challengesNew Requirements• Ultra Heterogeneity, Dynamic Configuration, Context-Awareness, Personalization, Extensibility, Reliability, Security, Privacy protection, Usability, Autonomy…We need software infrastructures for decreasing the complexities• How to hide the complexities under high level abstraction?• What the abstraction is appropriate ?• How the abstraction is implemented ?The human factorUbiquitous computing environments should be deployed incrementally.• Our living space is not a demonstration room.• We like to replace existing objects to new objects when necessary.A user’s personal device is a key to access to an intelligent environment.• A personal device is a window to access various surrounding services.
What do we think about?• Increasing the intelligence of environments• Retrieving context information• Thinking future daily objects, appliances, architecture.• Personal Devices• Robots• How to interact with Humans• Programming environments
Robots in human environmentsFuture Applications• Support & Care, Education, EntertainmentPersonal Robotics• Human-robotics Interaction• Mediator between digital/real world• Natural and affective interaction (speech, gestures, emotions) From nature to software modelsNew programming paradigms• Body inspired software architecture (Pisa)• Meta-programming models (Berlin) What is needed that robots could be successfully integrated in our everyday life? What are key technical issues?
Interacting with HumansConsidering affects andemotions as basecomponents for designinginteraction Sensing Human Social, verbal, Human The Emotive Response affective Human UserImproving interaction in a Social Environment Communicationnovel social environment(humans + Computers + Emotional Context- Aware application onRobots) Mobile devices Recognizing humans and provide behavioural Response PatternHow could robots facilitate Interaction withthe access to technology and Computers, Robots, Humansprovide supportive services Computing Computing Applications Support And Knowledge Understanding and Modelling Affects in Social contexts
My Robot, making programming simple!• Why robots?• Why programming them?• Why programming them easy?• Some examples > Science fiction > Industrial robots > Mars Rover > Fischertechnik > Lego > Roomba• Definition: A robot is a device, hard- or software with the capability of sensing and (re-)acting.• Let’s start building our own robot
Small, smaller, OQO• At first we need a brain for the robot• Let‘s take a PC or Laptop! > Battery powered > Great functionality > Easy programmable > A lot of interfaces and extensions• Why not a PC or Laptop? > Size? > Weight?• The solution is called OQO > Full functional laptop > Small in size > Does not weight a lot
OQO, a look inside• Some internals > 1GHz Transmeta Crusoe > 20GB HDD > 512 MB RAM > 800x600 Display > Firewire, USB 2.0, Ethernet, Wireless, Bluetooth etc. > Microphone, Speaker, Digital Pen• Software > Windows XP Professional > IIS, Webserver > .NET Framework 2.0 > Remote Desktop Connection• Some really cool piece of hardware, we can work with! Now, we need parts…
Phidgets, having fun with electronics• Getting bored of soldering?• Phidgets, never heard of it?• Electronic parts with USB connection > Sensors + Actuators > Remind the definition! We have a robot• Still we need the brain > Remind the OQO• Let‘s try!!!
Text LCD Display + Sensor Kit• Provide both a USB connector• LCD provides two lines for text, each with 80 letters• Sensor Kit provides 8 analog and 8 digital inputs• Demo• How difficult is it to send text to the display? > Example• Easy, isn‘t it?
Fischertechnik, constructing another robot• Fischer, a German company. Arthur Fischer invented the rawlplug in 1954.• Since 1965 providing construction kits for mechanical models based on a special connection system• 16-bit interface called „ROBO Interface“
The Fischertechnik ROBO Interface• The in- and outputs > 8 digital inputs > 2 digital and analog distance sensors > 4 analog sensors for resistance and voltage > 4 motors with 8 different speeds• The board > Serial port, COM, RS232 > USB > Infrared > R/F module available > Ethernet for the next hardware revision planned• .NET API(what‘s a API?) provided by Microsoft Research Cambridge Demo
How to control?• No we want to control the robot• Let‘s take another off the shelf product• Ordinary Joystick• Again take a available API to talk to the joystick: DirectX
ResearchCommercial research vs Academic researchMainly focused on hardware• Mechanical• Electrical• FunctionalityOperating systems unatended
CommercialAlready many commercial robotsavailable• Aibo• Asimo• Hoap• fischertechnik• Lego• …How to program them?• Different tools• Different programing paradigm• Different programing languages
Robots, too?Software• MS Agent• Internet Explorer• Media PlayerAdditional Hardware• SmartphoneHow to program them?• Standard tools > Visual Studio .NET• Programing paradigm > OOP > .NET• Your favorite language > C# > VB.NET > J#
Goal One language for all robots? One tool to rule them all?
Playing, Learning, Doing: Robots.FUNWhat might .FUN look like?We are interested in building a compelling &engaging programmable environment to play& learn for childrenInnovative, Very Easy, flexible programmingenvironment for Robot control applicationsThat is accessible to non technical market(children, nurse, elderly, machine operator)That enables a ‘path’ from very simple(beginner, child) to professional (using visualstudio) Visual Robot Development Kit (VRDK) Andreas
VRDK API Structure Co n t r o l l e r (F is c h e r T e c h n ik ) Ac t u a t o r s Sen s o rs An a l o g S e n s o r D ig it a l S e n s o r(e .g . M o t o r s ) (e .g . H e a t S e n s o r ) (e .g . T o u c h Sen s o r)
Imagine a world …where „Paper“ is able to understand, what you are doing …
"Men Are From Mars, Robots Are From Mitsubishi“Financial Times (12/09/05) P. 9; Pincock, StephenAs Carnegie Mellon roboticist Daniel Wilson outlines in his book, "How to Survive a RobotUprising," the field of robotics has taken off in recent years, with researchers around the worlddeveloping robotic applications to do everything from vacuuming to exploring space alongsideman. Several Japanese companies are developing robots that can serve as in-homeassistants, link up to the Internet to respond to questions, and serve as a kind of companion.Toyota recently released its Partner Robot with the ability to play the trumpet through lipsendowed with sensitivity and fingers with human-like dexterity. The convergence of roboticsand artificial intelligence has enabled researchers to develop devices such as Sonys Qrio, asmall robot that knows to hold out its arms if it is falling, and can pick itself up from theground. Embodied intelligence seeks to equip robots with such cognitive abilities, thoughingraining many basic components of intelligence still eludes roboticists. Robots still cannotunderstand what gives an object its properties, though roboticists are working to give theircreations the ability to learn by experience. The international group of researchers workingtogether in the RobotCub project is trying to create a child-sized robot that can learn frominteractions with its environment, just as people do. Many researchers feel that peoplesperceptions of the role of robots must change if they will ever be accepted as legitimatecompanions. Mitsubishi has begun taking orders for its Wakamaru robot, an in-home personalassistant that wakes you up in the morning, reports the weather and the headlines, and thengreets you in the evening with any telephone messages. "We have tried to create a robot youcan have a relationship with," said Mitsubishis Ken Onishi.