presentacion de robótica
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Presentación de robótica actualTRANSCRIPT
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Robotics in today’s world: Some applications
Dra. America Berenice Morales Dıaz
CINVESTAVUnidad Saltillo
Abril 2014
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video
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Outline
1 Robotics history
2 Applications
3 Actual Work
4 Conclusions and future trends
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Robotics history
Ancient vision
Greeks: Aristotle writes:
“If every tool, when ordered, or even of its ownaccord, could do the work that befits it... thenthere would be no need either of apprentices forthe master workers or of slaves for the lords.”
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The word “Robot” (1921)
Karel Capek’s play “Rossuum’s UniversalRobots”
“Robot” is coined from Czech word “robota”
“Robota” means labor
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Trademarks of science fiction
Robot Maria in classic SF movie“Metropolis” of Fritz Lang (1926)
Famous R2-D2 (left) and C3PO(right) in SF saga “Star Wars” ofGeorge Lucas (1977)
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Three laws of robotics
According to writer Isaac Asimov:
1 A robot may not harm a human being, or,through inaction, allow a human being to cometo harm.
2 A robot must obey the orders given to it byhuman beings except where such orders wouldconflict with the First Law.
3 A robot must protect its own existence, as longas such protection does not conflict with theFirst or Second Law.
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A definition of “Robot”
Robot Institute of America:
Robot is a reprogrammable, multifunctional manipulator designed tomove material, parts, tools, or specialized devices through variableprogrammed motions for the performance of a variety of tasks.
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Applications: Industrial Robots
Manufacturing
(a) Cartesian (b) Delta
(c) Manipulator
Fig. 1 : Manufacturing Robots.Dra. America Morales (CINVESTAV) Robotics in today’s world Abril 2014 9 / 41
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Industrial robots
Beer industry
(a) Mexico (PiedrasNegras, Coah.)
(b) Holland
(c) Germany (d) Argentina
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Medicine
(a) Exosqueleton
(b) Scanner (c) DaVinci
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Medicine
Rehabilitation
(a) Prosthesis (b) Rehabilitation
(c) Bionic hand
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Space
(a) satellite (b) Kirobo
(c) Curiosity (d) Spiderfab
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Household robots
(a) Roomba (b) Luna
(c) Scooba
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Entertainment robots
(a) Aibo
(b) Bioloid (c) Lego mindstorms
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Autonomous Guided Vehicles
(a) Google car
(b) Line follower (c) Kiva
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Humanoids
(a) HRP-2 (b) Nao
(c) Darwin (d) HRP-4
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Surveillance
(a) PIAP (b) ASV (c) Riotbot
(d) Drone (e) UAV
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Formations
(a) Pioneer (b) UAV
(c) UAV (d) Epucks
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What we need to know?
Robotics
Algebra
Differential equations
Control
Electronics
Programming
Mechanics
Phisics
Signal processing
Artificial vision
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Actual work
Fig. 2 : The actual and desired coordinates of the unicycle eq. (1).
xi = vi cos(θi)
yi = vi sin(θi) (1)
θi = ωi
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Actual work (cont.)
xei = cosθi(xri − xi) + sinθi(yri − yi)yei = −sinθi(xri − xi) + cosθi(yri − yi) (2)
θei = θri − θi
xei = ωiyei − vi + vricosθei
yei = −ωixei + vrisinθei (3)
θei = ωri − ωi
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Actual work (cont.)
Fig. 3 : A formation composed of 4 vehicles with a known virtual center.
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all-to-all syncronization control
vi = vri cos θei +Kxi
xei + n∑j=1
Cxij(xei − xej)
(4)
ωi = ωri +Kθiθei + vrisin θeiKCyi
θeiαi+yei + n∑
j=1
Cyij(yei − yej )
; for i 6= j (5)
with αi =√K2 + (xei)2 + (yei)2 +
∑nj=1 [(xei − xej)2 + (yei − yej)2]
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Tracking
−0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8
−0.4
−0.2
0
0.2
0.4
0.6
xri,x
i
yr i,y
i
x
1(0),y
1(0)
Robot1
x2(0),y
2(0)
Robot2
x3(0),y
3(0)
Robot3
Trajectory
Fig. 4 : Tracking evolution with control (4) and (5) for three robots swarm.
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Incorporation 1 robot
−0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
xri,x
i
yri,
yi
Cartesian trajectories
x1(0),y
1(0)
Robot1
x2(0),y
2(0)
Robot2
x3(0),y
3(0)
Robot3
Trajectory
Fig. 5 : Entrance of a new element in the formation.
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Incorporation multiple robots
−0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
xri, x
i
yri, y
i
Cartesian trajectories: multiple merging
x
1(0),y
1(0)
Robot1
x2(0),y
2(0)
Robot2
x3(0),y
3(0)
Robot3
x4(0),y
4(0)
Robot4
x5(0),y
5(0)
Robot5
x6(0),y
6(0)
Robot6
merging ofnew robots
Fig. 6 : Incorporation of several robots with controller in experiments: XYcoordinates.
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Experimental Setup
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Experimental Setup (cont.)
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Experimental Setup (cont.)
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Experimental Setup (cont.)
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Experimental Setup (cont.)
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Implementation
Fig. 7 : Data acquisition for our collision avoidance strategy.
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Inertial data adquisition
Fig. 8 : Microcontroller Arduino board with embedded IMU.
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Collision avoidance
Two formations in the same path, opposite directions.
−1 −0.5 0 0.5 1−1
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
1 23
4
5
6
Cartesian coordinates
xri, xi
yri,yi
Robot1
Robot2
Robot3
Robot4
Robot5
Robot6
Fig. 9 : Cooperative collision avoidance betweeen two formations
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Delay effect
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Delay effect (cont.)
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Delay effect (cont.)
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Delay effect (cont.)
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Conclusions and future trends
Group coordination in a robot group is an interesting topic that has beenreceive a lot of attention the las decade.
Many applications have been done: drones, surveillance, map recognition,exploration, in the fuel company, among others.
Future trends can be encountered in:
Automated highways (AHDA see:https://www.youtube.com/watch?v=4pMO475heog)Manufacturing systems (see Kiva Systems,https://www.youtube.com/watch?v=lWsMdN7HMuA).
In the future trends we have coordination in unstructured environments forservice robot at home and also in the industry in general for un identicalrobots.
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Thanks!, questions???
{america.morales,hugo.gutierrez,hector.perez,flabio.mirelez}@cinvestav.edu.mx
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