Princeton COS 116 - Lecture 2 (25 pages)

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Lecture 2



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Lecture 2

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Pages:
25
School:
Princeton University
Course:
Cos 116 - The Computational Universe
The Computational Universe Documents
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Telling a robot how to behave Adam Finkelstein COS 116 Spring 2012 Today Understanding a simple robot Why Larger goal seek an answer to What is Computation Acquire insight into technology that will become pervasive within the next decade First encounter with many themes of the course Robots in pop culture Real robots Discussion Mars rover what are the design principles Definition of Robot A machine that can be programmed to interact with the physical environment in a desired way Key word programmed As opposed to cars televisions which are operated by people Components of a robot Three stages 1 Sensors Inputs light sound motion 2 Computing Hardware 3 Outputs Actions motors lights speakers Our robot Scribbler Stall sensor Inputs button Outputs Speaker Motor wheels Line sensor underneath Light sensors Obstacle sensor detector Obstacle sensor emitter Light outputs Scribbler inside Formal specification of actions Fact of life in computing hardware is dumb Forces us to make nebulous concepts precise What is language Music Intelligence Running themes What is machine intelligence Are there limits Controlling Scribbler Remember esp for Scribbler labs Microprocessor Very can do one thing at a time fast 20 million operations per second Compound instructions sequence within Why programmable Benefits of a programmable device Flexible Multi use Universal Main difference between computers and other technologies Our robot Scribbler Stall sensor Inputs button Outputs Speaker Motor wheels Line sensor underneath Light sensors Obstacle sensor detector Obstacle sensor emitter Light outputs Example 1 As a burglar alarm Beep If beam interrupted Example 2 As an artiste Interesting note Scribbler is more stupid than you think Do forever Move Forward for 1s Move back for 1s END Translator written by Rajesh Poddar 08 3 pages of stuff like GOTO Main SenseObs FREQOUT ObsTxLeft 1 38500 IF ObsRx 0 THEN object left 1 ELSE object left 0 LOW ObsTxLeft FREQOUT ObsTxRight 1 38500 IF ObsRx 0 THEN object right 1 ELSE object right 0 LOW ObsTxRight RETURN SenseLine HIGH LineEnable line right LineRight line left LineLeft LOW LineEnable Where are things going Small cleaning agents Brooks Where are things going Automated highways From Minority Report Being actively researched Where are things going DARPA Grand Challenge 2 M prize 132 mile race in the desert No 5 human control teams Stanford won in 7 hours The Princeton Entry Undergraduate Project reached the finals Where are we going What is going inside us Da Vinci Robotic surgery system More precise though often still controlled by human Why are multi purpose robots so hard to build Need precise instruments that act like eyes ears hands fingers Need smart ways to use sensor data ex human eyesight vs high res camera TO DO s 1 Reading Brooks pp 12 21 pp 32 51 2 Lab Web 2 0 3 Homework 1 Survey All posted on course web page


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