Robotics and Intelligent Systems!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!• Tuesday and Thursday, 3-4:20 pm (5-min break)!• J-201, E-Quad"Robots and Robotics"• Design, manufacture, control, and programming of robots"• Use of robots to solve problems"• Study of control processes, sensors, and algorithms used in humans, animals, and machines"• Application of control processes and algorithms to designing robots"What are Systems?"• Assemblages of parts with structure, connectivity, and behavior"• Modules that relate to each other"• Interacting entities with common goals"• Objects with defined boundaries within some environment"• Objects that respond to inputs from externalities"• Objects that create outputs to externalities"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"■ Overview and Preliminaries"■ Articulated Robots"■ Coordinates and Kinematics"■ Mobile Robots"■ Rigid-Body Dynamics"■ Dynamic Effects of Feedback Control"■ Analog and Digital Control Systems"■ Sensors and Actuators"■ Introduction to Optimization"■ Numerical Optimization"■ Dynamic Optimal Control"■ Formal Logic, Algorithms, and Incompleteness"■ Computers, Computing, and Sets"■ Probability and Statistics"■ State and Parameter Estimation"■ Stochastic and Adaptive Control"■ Classification of Data Sets"■ Neural Networks"■ Communication, Information, and Machine Learning"■ Expert Systems"■ Task Planning and Multi-Agent Systems"• Office Hours– Mon Wed, 1:30-3pm• Assistant in Instruction:– Anthony DeGennaro• Office hours: TBD• Precepts, tutorials: TBD• MATLAB / SimuLink / SimMechanics / StateFlow• Course Home Page, Syllabus, and Links• www.princeton.edu/~stengel/MAE345.html• On-Line Resources– Blackboard (https://blackboard.princeton.edu/webapps/login)• Suggested Reading (E-Reserves, E-Journals, and Web Pages)• Virtual Reference Book• Lecture SlidesPreliminaries• GRADING– Class participation: 10%– Assignments: 30%– Quizzes: 10%– Mid-Term Project Paper: 25%– Te r m Paper: 2 5%– Late policy: 10% reduction/dayGreat Conundrums• Chalkboard vs. PowerPoint– The winner: PowerPoint• Copies of lecture slides to students – Yes/No– The winner: Yes, on Course Blackboard• Slides available before or after class– The winner: Before– but, …• Policy is subject to change• “Real-time” lecture slides may be revised• For a discussion of the issues, see http://scientopia.org/blogs/proflikesubstance/2011/01/31/the-slide-debate/• ‘Course shopping’ and the MAE 345 waitlistElectronic Devices in Class• No laptop computers• Silence all cellphones and computer alarms• If you must make a call or send a message, you may leave the room to do so• Don’t check or send text, tweets, etc.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 • Technical journal papers– E-Journals:http://sfx.princeton.edu:9003/sfx_pul/azAdditional Information: Virtual Reference Book• Links to web pages describing material related to the course– Entries marked by asterisks (*) are especially relevant• Arranged to correspond to course lectures• Predominantly Wikipedia entries• http://www.princeton.edu/~stengel/RISVirText.htmlRobotics and Intelligent Systems Virtual Reference BookAssignment # 1!due: September 19, 2013"1) Describe a specific, existing robotic system in about 750 words."2) Describe an existing or hypothetical intelligent system in about 500 words"Submit via BlackboardMid-Term Project Assignment"Robotic Surgical or Prosthetic Device Autonomous Airplane Tow Tractor Team Projects (4-5 members) Term Paper Assignment!due: Deanʼs Date"• Your term paper should address the design and simulation of a robotic device, a neural network, and/or an intelligent system.!• The topic should be one that you have not studied before or a significant extension of one that you have. !• The assignment is to compose a written report on the topic and to deliver a short oral presentation on your findings.!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.”"• Toys and gadgets"– Puppets, various cultures, BC"– Water-driven clock, 2nd c. BC"– Automata, clock works, et al (da Vinciʼs Lion, 15th c. BC ; Zytgloggeturm, Bern, 12th and 16th c.)!• Elektro, 1939 NY Worldʼs Fair"• “Robot” = “worker” in Slavic"– Karel Capekʼs 1921 play, RUR (Rossumʼs Universal Robots), in which machines took over the world"• Short story in collection, I, Robot, Isaac Asimov, 1942"– Code of ethics for robots "• Victorian pulp fiction (Frank Readeʼs Electric Man, the Electric Horse)"Robotic Antecedents: Science Fiction"• 18th c.: Industrial Revolution"– Jacquard loom (punched cards)"– Watt steam engine (regulator)"• 1930s: Enabling Technologies"– Electric motors"– Hydraulic/pneumatic actuators"– Sensors"– Analog computation"– Control theory"Robotic Antecedents: Industry"• 1940s: World War II"– Teleoperators"– Fire control systems"– Aerial drones"– Numerically