Escolar Documentos
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Robert Stengel
Robotics and Intelligent Systems
MAE 345 Princeton University, 2013"
Copyright 2013 by Robert Stengel. All rights reserved. For educational use only.!
http://www.princeton.edu/~stengel/MAE345.html!
Systems"
Intelligent Systems"
Perform useful functions driven by desired
goals and current knowledge"
Emulate biological and cognitive processes"
Process information to achieve objectives"
Learn by example or from experience"
Adapt functions to a changing environment"
Biomimetics (Bionics)"
Understanding biological principles and
applying them to system design"
Configuration"
Structure"
Behavior"
Dynamics"
Control"
Syllabus"
Preliminaries
Office Hours
Mon Wed, 1:30-3pm
Assistant in Instruction:
Anthony DeGennaro
Office hours: TBD
Precepts, tutorials: TBD
GRADING
On-Line Resources
Blackboard (https://blackboard.princeton.edu/webapps/login)
Suggested Reading (E-Reserves, E-Journals, and Web Pages)
Virtual Reference Book
Lecture Slides
Great Conundrums
Chalkboard vs. PowerPoint
The winner: PowerPoint
http://scientopia.org/blogs/proflikesubstance/2011/01/31/theslide-debate/
Suggested Reading
Chapters, sections, and pages from
over a dozen books
Electronic Reserves: E-Reserves on
Blackboard sidebar
Hard copies on Engineering Library
Reserve Shelf
Additional Information:
Virtual Reference Book
Links to web pages describing material
related to the course
Entries marked by asterisks (*) are especially
relevant
Assignment # 1
due: September 19, 2013"
1)
2)
Computational Tools
MATLAB
SimuLink
SimMechanics
StateFlow
A Little Historical
Background
Robotic Antecedents:
Antiquity"
Aristotle, 4th c. BC"
If every instrument could
accomplish its own work,
obeying or anticipating the
will of others chief
workmen would not need
servants. "
Robotic Antecedents:
Science Fiction"
Robotic Antecedents:
Industry"
18th c.: Industrial Revolution"
Jacquard loom (punched cards)"
Watt steam engine (regulator)"
Teleoperators"
Fire control systems"
Aerial drones"
Numerically controlled
machines"
Chemical process control"
Elements of Robotic
Devices "
Structure"
Power source"
Actuation"
Sensing"
Locomotion"
Environmental Interaction"
Human-machine interaction"
Guidance"
Navigation"
Control"
Self control"
Self maintenance"
Awareness of environment"
Task orientation"
Mission specificity"
Power source"
Cooperation and collaboration"
= Intelligence?"
Self replication?"
Ethical issues"
Runaround , in Astounding
Meaningful utterances"
Culturally distinct languages"
Alphabets, written words, and grammar"
Numbers, logic, and mathematics"
Long-Distance Signaling"
- Smoke, fire, mirrors, and visual
symbols"
- Talking drums"
- Semaphores and lights"
- Telegraph"
- Short-wave radio"
Morse Code
Infrequent
Norbert
Wiener
Andrey
Kolomogorov
The Singularity*"
Premise:"
Real-time artificial
intelligence and fully
autonomous humanoid
robots"
Will occur by mid-century"
Consequence:"
Robots superior to
humans will be
developed"
Impossible for current
humans to know when
The Singularity has
occurred"
Plausible?"
* Ray Kurzweil, futurist
Supercomputer"
IBM Blue Gene/Q: 20 x 1015 flops (2012)"
6.6 Mwatts"
Singularity: plausible?"
=
Cray 2 (1985)
4 processors
256 Mwords
iPad 2 (2011)
Dual core
Single-processor: 1.5-1.64 Gflops
Geekbench JavaScript: 1.44 sec
128 Gbytes
What Makes A
System Intelligent ?
~1-2 m
Genome: 5 million base pairs
No brain
HIV
Genome: 10,000 base pairs
No brain
Copepod, 1-2 mm
Genome: 5 billion base pairs
Brain: ~100 m
Human Genome:
3.2 billion base
pairs
Some Artificial
Intelligent Systems "
Eliza, Weizenbaum, 1976"
http://www.manifestation.com/neurotoys/eliza.php3!
Big Data"
Intellectual property"
Commercial Entities"
Google"
Facebook"
Sqrrl"
Credit card industry"
Violent video games"
Government Entities"
http://en.wikipedia.org/wiki/
Intellectual_property
NSA"
Accumulo"
PRISM"
http://en.wikipedia.org/wiki/Nineteen_Eighty-Four
Hierarchy of "
Declarative,
Procedural,
and Reflexive
Actions "
Conscious Thought"
Unconscious Thought"
Subconscious Thought"
Preconscious Thought"
Reflexive Behavior"
http://en.wikipedia.org/wiki/
Blue_box
http://en.wikipedia.org/wiki/
Anonymous_(group)
Whistle-Blowing"
WikiLeaks.org"
Private vs. Public Domain"
Privacy vs. security"
Encryption"
Hacking"
Blue box"
Anonymous"
Unconscious Thought"
- Subconscious Thought"
". Procedural Processing"
". Communication"
". Learned Skills"
". Subliminal Knowledge Acquisition"
- Preconscious Thought"
". Pre-attentive Declarative Processing"
". Subject Selection for Conscious Thought"
". Concept Development"
". Information Pathway to Memory"
". Intuition"
Reflexive Behavior"
- Instantaneous Response to
Stimuli"
- Elementary, Forceful Actions"
- Stabilizing Influence"
- Simple Goals"
"
"
Math Review
Scalars and Vectors
Sums and Multiplication
Inner Product
Derivatives and Integrals
x
3
3 x 1!
Transpose: interchange
rows and columns"
xT = x1
x2
1 x 3!
x3
3-D Vector!
y=
a
b
c
d
4 x 1!
ax1
ax = xa = ax2
ax
3
a ( x + y ) = ( x + y ) a = ( ax + ay )
dim ( x ) = dim ( y )
Could we add
(x + a)
?"
ax3
Only if"
dim ( x ) = (1 1)
Addition "
Conformable vectors and matrices are
added term by term "
a
c
x=
;
z
=
b
d
a+c
x+z=
b
+
d
xT x = x x = x1
(1 m)(m 1) = (1 1)
x2
x1
x 3 x2
x
3
dt
dx dx2
=
dt
dt
dx3
dt
7
x ( t ) = 8t ;
9t 2
0
dx ( t )
=
8
dt
18t
x dt =
x dt
x dt
x dt
7
x ( t ) = 8t ;
9t 2
7t + x ( 0 )
1
2
8t
x (t ) dt = 2 + x2 ( 0 )
9t 3
3 + x3 ( 0 )
Next Time:
Articulated Robots
Supplemental
Material
Theoretical
Underpinnings"
"
"
Bayes (1702-1761)"
Descartes (1596-1650)"
Pascal (1623-1662)"
Newton (1643-1727)"
Leibniz (1646-1716)"
Boolean algebra"
Boole (1815-1864) "
Geometry, trigonometry,
calculus, physics, and chemistry"
Theory of sets"
Cantor (1845-1918)"
Principia Mathematica
(1910-1913)"
Russell (1872-1970)"
Whitehead (1861-1947)"
Gdel s theorem"
Gdel (1906-1978)"
Consciousness"
"- Self-Awareness and Perception"
"- Creativity, Wisdom, and Imagination"
"- Common Sense, Understanding, and Judgment of Truth"
"- Learning by Example"
"
http://www.sciencemag.org/cgi/content/full/322/5909/1800
Superheroes, Androids,
Gynoids, and Cyborgs"
Superman
Cyborgs
Gynoids
Androids
An Artificial Intelligence
View of Intelligent Control"
Declarative Functions !
!
Procedural Functions modeled by
Reflexive Functions
!
!
Automobile"
Declarative"
Declarative"
Determine Destination"
Traffic Management Advice"
Procedural"
Procedural"
Lane Change"
Transmit Information"
Reflexive"
Steering"
Speed Control"
Reflexive"
Provide Medical Treatment"
Control Traffic at Scene"
Intelligent Aircraft/
Airspace System"
%
%
Vector Addition
zz =
[8; 9; 10]
u
=
x + zz
Inner (Dot) Product
zzz =
x' * x
Symbolic Toolbox
disp(' ')
disp('Symbolic Toolbox')
disp(' ')
syms x y z z1 z2 z3 z4
y
=
x * x
%
Define Function
z
=
diff(y)
%
Differentiate Function
z1 =
int(y)
%
Integrate Function
z2 =
[x; y; z]
%
Column Vector
z3 =
diff(z2)
%
Derivative of Column Vector
z4 =
int(z2)
%
Integral of Column Vector
w =
v =
4
8
12
4
8
12
wT = 4
zz =
8
9
10
u =
9
11
13
zzz = 14
12
Symbolic Toolbox
y = x^2
z = 2*x
z1 = x^3/3
z2 =
x
x^2
2*x
z3 =
1
2*x
2
z4 =
x^2/2
x^3/3
x^2