Lecture information. Intelligent Robotics Mobile robotic technology. Description of our seminar. Content of this course

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1 Intelligent Robotics Mobile robotic technology Lecturer Houxiang Zhang TAMS, Department of Informatics, Germany Lecture information Class Schedule: Seminar Intelligent Robotics + Projects Location: F334 First lecturer: Houxiang Zhang Office: F307 Phone: 2565 Office Hours: Friday 11:00 am. Second lecturer: Denis Klimentjew Office: F330 klimentj@informatik.uni-hamburg.de Office hours: Mon. 2:00pm or contact by Institute TAMS s 1 Institute TAMS s 2 Description of our seminar Description of our seminar This summer semester Next winter semester Other issues Content of this course Introduction to our lecture Review of mobile robotic technology Review of research achievements; challenging issues of mobile robotics; methodology Locomotion Actuation and mechanical system; locomotion; kinematics; dynamics Perception Sensor system; fusion technology; other control electrics Localization Navigation; path planning algorithms Application GUI; interface; other issues Institute TAMS s 3 Institute TAMS s 4 1

2 Acknowledgments Introduction to Autonomous Mobile Robots by Roland Siegwart and IIIah R. Nourbakhsh,and and pertinent slides with this book are available on: Acknowledgments Other great work and related information on the internet Also thanks for online information from Dr. Alaa Khamis Institute TAMS s 5 Institute TAMS s 6 Introduction to our lecture Motivation Introduction to our lecture Motivation Our schedule Our schedule Other useful information Other useful information Introduction to the project part Introduction to the project part Institute TAMS s 7 Institute TAMS s 8 2

3 Motivation We will look at different methods from the field of computer science that are used in robotics and especially in the pertinent project The main focus is on the practical use of these methods which will be demonstrated with the help of relevant, up-to-date applications. Presentation subjects can be chosen from among the following areas: Architectures: possibilities of behaviour control Mobile robotic technology: motivation- technology-various systems Sensor perception and actuation Man-machine-communication: multmodality, example systems Service robots Motivation (cont ) The main purpose of the seminar is to get to know some selected and very interesting topics within the areas of computer science and mobile robotics. This seminar enables the participants to have an insight into some special applications and methods, which can be applied in the mobile robotics. There are also some other purposes of this seminar, such as enabling the participants to work independently in a scientifically area, helping you to present the work in oral lecture and in writing documents. Institute TAMS s 9 Institute TAMS s 10 Mobile robotic technology What is a robot? What is a mobile robot? Why should you know something on mobile robots? Institute TAMS s 11 Institute TAMS s

4 What is a robot? What is a mobile robot? Mobile robotic technology Why should you know something on mobile robot? Robot means what? A robot is a mechanical or virtual, artificial agent. It is usually an electromechanical system, which, by its appearance or movements, conveys a sense that it has intent or agency of its own. The word robot can refer to both physical robots and virtual software agents, but the latter are usually referred to as bots to differentiate. Institute TAMS s 13 Institute TAMS s 14 Difference between a machine and a robot Two Volkswagen Touareg Difference between a machine and a robot My definition of robot : A robot is an artificial, intelligent, autonomous system with a physical electromechanical platform. It is a combined device with enough perception, manipulation capability or mobility to implement typical tasks. Its purpose is to release human beings of laborious tasks, and of working in a critical environment, or to provide services to improve the our living standard. Dr. Houxiang Zhang Institute TAMS s 15 Institute TAMS s

5 Mobile robotic technology What is a robot? What is a mobile robot? Why should you know something on mobile robots? Mobile robots have the capability to move around in their environment and are not fixed to one physical location. In contrast, industrial robots usually consist of a jointed arm (multi-linked manipulator) and gripper assembly (or end effectors) that is attached to a fixed surface. Mobile robots are the focus of a great deal of current research and almost every major university i has one or more labs that focus on mobile robot research. Mobile robots are also found in industry, military and security environments. They also appear as consumer products, for entertainment or to perform certain tasks like vacuum cleaning or mowing. Institute TAMS s 17 Features of mobile robots Locomotion Navigation Autonomy Programmability Institute TAMS s 18 Mobile robotic technology What is a robot? What is a mobile robot? Why should you know something on mobile robots? Introduction to our lecture Motivation Our schedule Basic; Colorful; Interesting; Full-aspect Other useful information Introduction to the project part Institute TAMS s 19 Institute TAMS s

6 Description of our lecture Description of our seminar This summer semester Next winter semester What we require of you Seminar part: At the beginning, i the lecturer will give some introduction ti of mobile technology. Then the overall problems are declared by the lecturer at the first lecture. It is supported by the discussion at each lecture, where the presenter can be asked. One topic can be handled by up to two participants. Each participant makes a presentation which should last more than 30 minutes. The presentation slides and the documents can be prepared with LaTex (Style-File is available) or PowerPoint (Open Office is alternative). Other issues Institute TAMS s 21 Institute TAMS s 22 What we require of you (cont ) Project part: Thestudentswill t work in a group with around three persons. Some given tasks should be finished one by one. At the end of each semester, a group should present their work together according to the achievement. Theworking documents can be written together. What we require of you (cont ) Other emphasis: You should attend the course regularly. l Low attendance or absence will affect your grade. Every student actually should give presentation twice. One is for the Seminar which you should make independently; while the other is for Project achievement in a group. German or English is available. English is encouraged Other possibility is still open. Small Schein Big Schein Institute TAMS s 23 Institute TAMS s

7 Our schedule of the seminar part Introduction to seminar Review on mobile technology Challenging issues of mobile robotics; Methodology Open topics for you Locomotion technology Perception technology Localization technology Navigation and path planning Famous mobile prototypes introduction Introduction to some pre-selected papers on mobile technology Mobile robot classification According to the environment in which they travel: Land or home robots; aerial robots and underwater robots Kinematics Sliding frame robot, legged robot (humanoid robot and multi-leg robot); wheeled and chain-tracked robot Institute TAMS s 25 Institute TAMS s 26 Mobile robot classification According to the autonomous levels: Autonomous or semi-autonomous modes According to applications Service robots; edutainment robots; pure research prototypes; space robots; and civil or military robots Introduction to our lecture Motivation Our schedule Other useful information Introduction to the project part Institute TAMS s 27 Institute TAMS s

8 How to find information for your tasks Our library: numerous journals and proceedings Internet Our Tams information /local/tams1.2/tams/proceedings/ Other literature pre-selected by us Lecture material Introduction to Autonomous Mobile Robots, R. Siegwart and I. Nourbakhsh, The MIT Press, Cambridge, Massachusetts 02142, ISBN: X, Evolutionary Robotics: The Biology, Intelligence, and Technology of Self- Organizing Machines, Stefano Nolfi and Dario Floreano, ISBN: , Designing Autonomous Mobile Robots: Inside the Mind of an Intelligent Machine, John M. Holland, Newnes is an imprint of Elsevier, ISBN: , 2004 Embedded Robotics, Thomas Braeunl, Springer-Verlag Berlin Heidelberg ISBN: , 2006.[2nd Edition] Other references: Institute TAMS s 29 Institute TAMS s 30 Web links on robotics International Federation of Robots IEEE Robotics and Automation Society(RAS) European Robotics research Network (EURON) Robotics Trends, news and information Robotics Online Institute TAMS s 31 Institute TAMS s

9 Contact information: Introduction to our lecture Motivation Our schedule Other useful information Introduction to the project part Available time: 11:00 am on Friday. Institute TAMS s 33 Institute TAMS s Intelligent Robotics Introduction to the project Outline Brief introduction to Pioneer family Lecturer Dr. Houxiang Zhang TAMS, Department of Informatics, Germany Pioneer robots Specification, components, applications Other devices Cameras, laser scanner Possible tasks for our project Related information Institute TAMS s 35 Institute TAMS s

10 Outline Brief introduction to Pioneer family Pioneer robots Specification, components, applications Other devices Cameras, laser scanner Possible tasks for our project Related information Brief introduction on Pioneer family Pioneer is a family of mobile robot with two-wheel or four-wheel-drive. They are small, intelligent robots developed by Dr. Kurt Konolige of SRI International, Inc, and Stanford University. Pioneer robots contain all of the basic components for sensing and navigation in a real-world environment. They are all managed via an onboard microcontroller and server software. MobileRobots Inc (formerly ActivMedia Robotics, LLC) 19 Columbia Drive, Amherst, NH US, voice ; fax Institute TAMS s 37 Institute TAMS s 38 Outline Brief introduction to Pioneer family Pioneer robots Specification, components, applications Pioneer robots There are different kinds of Pioneer robots available at the moment. Pioneer 1; Pioneer 2 with different devices; Pioneer 3DX; Pioneer 3AT The lab owns 3 Pioneer robots. Of these two are Pioneer 2DX robots, one is Pioneer 1AT robots. Other devices Cameras, laser scanner Possible tasks for our project Related information Institute TAMS s 39 Institute TAMS s

11 Pioneer robots Pioneer 1 It is differentially steered, has 7 front and side facing sonars. The AT version has fat tires for outdoor use. Pioneer robots Pioneer 1 It is differentially steered, has 7 front and side facing sonars. The AT version has fat tires for outdoor use. Pioneer 2 An agile, versatile intelligent mobile robotic platform updated to carry loads more robustly and to traverse sills more surely Last through years of tough classroom use Institute TAMS s 41 Pioneer 2 An agile, versatile intelligent mobile robotic platform updated to carry loads more robustly and to traverse sills more surely Last through years of tough classroom use Institute TAMS s 42 Pioneer 2 outlook Specifications of Pioneer 2 44cm x 38cm x 22cm aluminum body with 16.5cm dia drive wheels. The two motors use 38.3:1 3 gear ratios and contain 500-tick encoders. Two powered wheels with a rear caster balancing the robot. Climb a 25% grade and sills of 2.5cm. On flat floor, move at speeds of 1.6 mps. At slower speeds carrying payloads up to 23 kg (include additional batteries and all accessories). Institute TAMS s 43 Institute TAMS s

12 Specifications of Pioneer 2 44cm x 38cm x 22cm aluminum body with 16.5cm dia drive wheels. The two motors use 38.3:1 3 gear ratios and contain 500-tick encoders. Two powered wheels with a rear caster balancing the robot. Climb a 25% grade and sills of 2.5cm. On flat floor, move at speeds of 1.6 mps. At slower speeds carrying payloads up to 23 kg (include additional batteries and all accessories). Specifications of Pioneer 2 44cm x 38cm x 22cm aluminum body with 16.5cm dia drive wheels. The two motors use 38.3:1 3 gear ratios and contain 500-tick encoders. Two powered wheels with a rear caster balancing the robot. Climb a 25% grade and sills of 2.5cm. On flat floor, move at speeds of 1.6 mps. At slower speeds carrying payloads up to 23 kg (include additional batteries and all accessories). Institute TAMS s 45 Institute TAMS s 46 Specifications of Pioneer 2 44cm x 38cm x 22cm aluminum body with 16.5cm dia drive wheels. The two motors use 38.3:1 3 gear ratios and contain 500-tick encoders. Two powered wheels with a rear caster balancing the robot. Climb a 25% grade and sills of 2.5cm. On flat floor, move at speeds of 1.6 mps. At slower speeds carrying payloads up to 23 kg (include additional batteries and all accessories). Specifications of Pioneer 2 44cm x 38cm x 22cm aluminum body with 16.5cm dia drive wheels. The two motors use 38.3:1 3 gear ratios and contain 500-tick encoders. Two powered wheels with a rear caster balancing the robot. Climb a 25% grade and sills of 2.5cm. On flat floor, move at speeds of 1.6 mps. At slower speeds carrying payloads up to 23 kg (include additional batteries and all accessories). Institute TAMS s 47 Institute TAMS s

13 Pioneer 2 specifications (Cont ) Including eight ultrasonic transducer (range-finding sonar) sensors arranged to provide 180-degree forward coverage and detecting ranges from 15cm to approximately 7m. Running hours on three fully charged batteries. With a highcapacity charger, re-charging time is only 2.4 hours. Easily removable nose allows quick access to any optional embedded computer for addition of up to 3 PC104+ cards. Including a 32-bit RISC-based controller with 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. Pioneer 2 specifications (Cont ) Including eight ultrasonic transducer (range-finding sonar) sensors arranged to provide 180-degree forward coverage and detecting ranges from 15cm to approximately 7m. Running hours on three fully charged batteries. With a highcapacity charger, re-charging time is only 2.4 hours. Easily removable nose allows quick access to any optional embedded computer for addition of up to 3 PC104+ cards. Including a 32-bit RISC-based controller with 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. Institute TAMS s 49 Institute TAMS s 50 Pioneer 2 specifications (Cont ) Including eight ultrasonic transducer (range-finding sonar) sensors arranged to provide 180-degree forward coverage and detecting ranges from 15cm to approximately 7m. Running hours on three fully charged batteries. With a highcapacity charger, re-charging time is only 2.4 hours. Easily removable nose allows quick access to any optional embedded computer for addition of up to 3 PC104+ cards. Including a 32-bit RISC-based controller with 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. Pioneer 2 specifications (Cont ) Including eight ultrasonic transducer (range-finding sonar) sensors arranged to provide 180-degree forward coverage and detecting ranges from 15cm to approximately 7m. Running hours on three fully charged batteries. With a highcapacity charger, re-charging time is only 2.4 hours. Easily removable nose allows quick access to any optional embedded computer for addition of up to 3 PC104+ cards. Including a 32-bit RISC-based controller with 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. Institute TAMS s 51 Institute TAMS s

14 Components of Pioneer 2 Body with hinged battery access door 1b battery 2 wheels and 1 caster Motors with encoders Front sonar ring Microcontroller Sonar board Motor power board Components of Pioneer 2 (Cont ) In addition, the robot requires: communication with a PC client, via one of the following: Wireless radio modem Robot-to-laptop connector Robot-to-desktop tether Or connection to an embedded computer A recharger Standard for overnight charging High-capacity to cut charge time 80% or to use as a computer power supply (requires 3 batteries) Institute TAMS s 53 Institute TAMS s 54 Applications of Pioneer 2 Mapping Tl Teleoperation Localization Monitoring Reconnaissance Vision tracking Manipulation Cooperation Other behaviors Software tool Saphira Client/Server A robotics application development environment written, maintained, and constantly updated at SRI International s (formerly Stanford Research Institute) Artificial Intelligence Center. Operates in a client/server environment. The library is a set of routines for building clients. These routines perform the work of communications and housekeeping for the robot server. The library integrates a number of useful functions for sending commands to the server, gathering information from the robot s sensors, and packaging them for display in a graphical window-based user Interface. Institute TAMS s 55 Institute TAMS s

15 Software recourse Institute TAMS s 57 The software we will use Player It is a network server for robot control. It provides a clean and simple interface to the robot's sensors and actuators over the IP network. Your client program talks to Player over a TCP socket, reading data from sensors, writing commands to actuators, and configuring devices on the fly. It supports a variety of robot hardware. The original Player platform is the Pioneer 2 family, but several other robots and many common sensors are supported too. Player's modular architecture makes it easy to add support for new hardware, and an active user/developer community contributes new drivers. Player runs on Linux (PC and embedded), Solaris and *BSD. Institute TAMS s 58 Outline Brief introduction to Pioneer family Pioneer robots Specification, components, applications Cameras Web camera CMU camera Omindirectional camera Stereo camera Other devices Cameras, laser scanner Possible tasks for our project Related information Institute TAMS s 59 Institute TAMS s

16 Laser scanner URG (SOKUIKI sensor) Laser scanner - URG (SOKUIKI sensor) Institute TAMS s Institute TAMS s 62 Outline Brief introduction to Pioneer family Pioneer robots Specification, components, applications Other devices Cameras, laser scanner Possible tasks for projects Localization Movement controlling, Localization ation based on sensors Vision integration 1D, 2D or 3D vision integration for localization Sensor fusion Laser scanner for localization, fusion between different sensors Complicated tasks Tracking, mapping using high-level algorithms, 3D sensor fusion technology Possible tasks for our project Related information Institute TAMS s 63 Institute TAMS s

17 Our schedule of the project part Pioneer robot experience Learn to use Player software Simple testing; simulating; programming the robot Given tasks for every group Following a line on the floor Color tracking Mapping Other Given tasks for different group Vision integration: 1D, 2D or 3D vision integration for localization Sensor fusion: Laser scanner for localization, fusion between different sensors GUI and web: Design a universal control GUI for our project and building a webpage for our project Our schedule of the project part Some examples Institute TAMS s 65 Institute TAMS s 66 Outline Brief introduction to Pioneer family Related information A very important box with useful documentations Pioneer robots Specification, components, applications Other devices Cameras, laser scanner Possible tasks for our project Related information The useful webpage of our lecture For pioneer robot: com/ For player software: For laser scanner: Online information and our contribution Institute TAMS s 67 Institute TAMS s

18 Mobile Robotics Mobile robot classification What you should do now? Make a decision on your topic for the seminar, then fill out the form. Make a group to work together for the project, then inform us. Lecturer Houxiang Zhang TAMS, Department of Informatics, Germany Make a decision on which topic your group will focus on, then inform us. If you only attend the seminar, while do not attend the project, please inform us immediately. Also you should tell us which Schein you need. Institute TAMS s 69 Institute TAMS s 70 Thanks for your attention! Let us make the course a success together! Any questions? Institute TAMS s 71 Institute TAMS s