2014 VL CogSys 1

Fakultät
für Informa0k
der Technischen Universität München
Cogni&ve Systems
Robotics and Embedded Systems (Informatik VI, TUM)

fortiss GmbH
Cogni0ve Systems
SS 2014 1
Lehrstuhl Informa0k VI – Robo0cs and Embedded Systems

Fakultät für Informa0k
Cognitive Systems
Introduction and Organizational Issues
Cogni0ve Systems
SS 2014 2

Team
Prof. Dr.-‐Ing. habil. Alois Knoll

Priv.-‐Doz. Dr. rer. nat. Florian Röhrbein
Alexander Perzylo, M.Sc. + his team
R. HosteTler, M.Sc.
Dr. rer. nat. D. Clarke

Cogni0ve Systems
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The genealogy of Roboy …
Cogni0ve Systems
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Short Introduction to
Informatik VI: Robotics and Embedded Systems
Cogni0ve Systems
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–  Faculty in Informa&k LS VI – Robo&cs and Embedded Systems:

•  A. Knoll Professor
•  M. Althoff Associate Professor Cyber-‐Physical Systems
•  D. Burschka Associate Professor Service Robo5cs
•  P. van der Smagt Associate Professor Biomime5c Systems
•  G. Hirzinger Honorary Professor, DLR
•  A. Albu-‐Schäffer Professor (on leave) and Director DLR Robo0cs and
Mechatronics Center Oberpfaffenhofen
•  F. Röhrbein Privatdozent
–  Main research direc&ons
•  Sensor based service and medical robo0cs
•  Cogni0ve robo0cs & man-‐machine-‐dialogue-‐systems
•  Embedded real 0me systems (automo0ve, energy, …)
–  Teaching
•  Undergraduate: Informa0k I & II (Introduc0on to computer science)
•  Graduate: robo0cs, sensor systems, real-‐0me systems, digital signal processing, machine
learning I & II, autonomous systems, …
Cogni0ve Systems 6
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I6 sites:
Cogni0ve Systems 7
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Some of our partners
TUM Mechanical Engineering

TUM Electrical Engineering
TUM Architecture
DLR
…

Cogni0ve Systems 8
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Research Structure at Informa&k VI
Robo0cs and Embedded Systems
Distributed Real-‐0me Systems
Sensors Planning Integra0on Applica0ons
Vision/ Trajectory Joint Ac5on Medical

Tracking Genera5on & Safety
NL Collision Mobile Industrial
Processing Avoidance Manipulators
Mul5-‐Modal Naviga5on Learning Educa5on
Fusion
Collabora5ve Explora5on Human New Robot
Sensing Interfaces Types
Brain/Computer
Interfaces
Cogni0ve Systems 9
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Research Structure at Informa&k VI

Distributed Real-‐0me Systems
Robo0cs
Methods Tools Integra0on Applica0ons

Model-‐based Develop-‐
ment & Code Gener-‐ FTOS Cer5fica5on Factory level networks
a5on – Zero-‐Code
Development Heterogeneous
EasyLab Systems Mechatronics
FT-‐Mechanisms Non-‐standard
SensorLab Targets/Mul5core Sensor-‐Actuator-‐
Formal Specifica5on Networks
& Verifica5on of Com-‐ Web of things
ponent Behaviour Distributed Fault-‐
Tolerant Systems
Models of Computa5on
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Some examples of our projects …
Cogni0ve Systems
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Further activities of the chair

•  Other lectures: Robo0cs, DSP, machine learning, industrial embedded
systems, techniques of ar0ficial intelligence ...
•  Prac0cal modules: real 0me systems, robot soccer, industrial robots, neural
networks for machine learning, computer vision for robo0cs, signal
processing...
•  Seminars: Cogni0ve robo0cs, human-‐robot interac0on, computer vision for
robo0cs, vision, control and human-‐machine interac0on in robo0c surgery,
etc. …
•  Theses: Master and Diplom
•  System development projects/Bachelor‘s theses
•  Guided research, student assistants
•  More informa0on: hVp://wwwknoll.in.tum.de
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http://www.frontiersin.org/neurorobotics
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Mission Statement
•  Future industrial robots will (have to) be

–  Modular, flexible (in hardware and somware), highly networked
–  Sensor-‐based, adap0ve
–  Easy to program (task orienta0on)
–  Easy to fit into the workflow
•  A number of enabling technologies are needed
–  Mechatronics: modular mechanisms
–  Electronics: interfaceable, standardised components
–  Computer Science: Planning, Vision, Mul0modal Interfaces, Plug-‐and-‐Play technology
•  If these can be provided, applica0ons are virtually unlimited and produc0vity
can be increased drama0cally.
•  Informa&cs is the key to (service) robo&cs
– both for innova0on and for value crea0on!
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for&ss – An-‐Ins&tut der TUM
More informa0on:
hVp://www.for&ss.org
Cogni0ve Systems 15
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Contents of the Lecture

18/08/2014 – 22/08/2014
18.8. 19.8. 20.8. 21.8. 22.8.
Neural
09:00-‐10:30 Introduc0on Grasping Percep0on Natural
Modelling
Language
Cogni0ve Cogni0ve Interfaces
11:00-‐12:30 Som Robots ***
Architectures Architectures
13:30-‐15:00 Signal
Sensors + Excursion
ROS + Robo5cs processing +
Object Manipula5on For&ss
Library graphical
15:30-‐17:00 detec5on
models
Cogni0ve Systems
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Exercises
•  Sensors + Object detec0on

•  Manipula0on
•  Natural Language Interfaces
Cogni0ve Systems
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Cogni0ve Systems
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What is cogni&on?
•  Winograd and Flores (1986): “All cogni5ve systems are symbol systems. They achieve their
intelligence by symbolizing external and internal situa5ons and events, and by manipula5ng those
symbols.”
•  Steven Pinker (1994): ”reasoning, percep5on, language, memory, control of movement”
•  Bekey (2004): “cogni5ve func5ons [include] reasoning, learning and planning”
•  Floreano & Masusi (2008): “cogni5ve science was focused on iden5fying the mechanisms and
processes that intervene between the recording of sensory data and the produc5on of decisions
and ac5ons [. . .]. Although later reformula5ons of the research agenda emphasized the need to
beêr incorporate behaviour as an ac5on-‐percep5on loop [. . .].”

Recommended Reading:
•  H. Maturana, F. Varela. The Tree of Knowledge. Shambhala Publica0ons; Revised Edi0on 1992
•  F. Varlea, E. Thompson, E. Rosch. The Embodied Mind: Cogni&ve Science and Human
Experience. The MIT Press, 1992
Cogni0ve Systems
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Guiding Ques&ons
Will our robots be able to …
… speak with us? Y/N
… understand us? Y/N

… be able to learn from us ? Y/N

… cooperate with us? Y/N

… develop their individual “personality”? Y/N
… evolve their body structure? Y/N

… acquire consciousness? Y/N
… and if so: when?
Cogni0ve Systems 20
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Cognitive Systems in ...

Industry: Academia:
Cogni0ve Systems
UPF
SS 2014
2014 Cogni0ve Architectures

Examples of recent AI systems
2011: IBM‘s Watson playing Jeopardy!

http://www.informationweek.com/software/business-intelligence/inside-watson-ibms-jeopardy-computer/229100143
Cogni0ve Systems
SS 2014

Examples of recent AI systems
2011: Apple‘s SIRI

•  Personal assistant
•  Speech recogni0on
http://images.apple.com/ios/images/overview_hero.png
Cogni0ve Systems
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What is Ar&ficial Intelligence?
•  The construc0on of intelligent systems (computers, smartphones,

cars, robots, …)
•  Formaliza0on and representa0on of knowledge and reasoning
based on that knowledge
•  Development and use of computa0onal models to understand
humans and ar0ficial agents
•  Build the bases for natural human-‐system interac0on on each
level (common sense to expert use)
Cogni0ve Systems
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Cogni0ve Systems 25
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Systems that think like humans
Top-‐down approach: Cogni0ve sciences

•  Theories about internal ac0vi0es in the human brain
•  What level(s) of abstrac0on are appropriate?

BoTom-‐up approach: Neurosciences
•  Understanding of natural neural networks s0ll a challenge
•  Sensing of brain ac0vity improving (skin, fMRI, implanted neural interfaces)
Cogni0ve Systems
SS 2014

Systems that act like humans
Turing-‐test (Turing, 1950): Imita0on game using a screen/keyboard

interface to communicate with the other agent
•  Goal: iden0fy whether the communica0n partner is human or a machine
Contains many key aspects of AI:
•  Natural language processing
•  Knowledge representa0on
•  (Logical) inference
•  Learning
The “total Turing test” also includes
•  Computer vision
•  Robo0cs
Cogni0ve Systems
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Chinese Room Argument
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Symbol Grounding Problem
“red”
“yellow”
“green”
Cogni0ve Systems
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Cogni0ve Systems
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Some thoughts about humans and machines
Technical Systems Humans

High speed Slower
High accuracy Less accurate
High forces Less powerful
Fast feedback Slower feedback
But …
Technical Systems Humans

Less adaptive Highly adaptive to unforseen situations
Typically specific power and sensitivity Large range: power vs. sensitivity
Typically for specific purpose “Universal“ capabilities
Cogni0ve Systems
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Our most prominent project participation
•  The Human Brain Project HBP will be

funded by the European Commission
over the next 10 years
•  Coordinator will be EPFL (Lausanne,
Switzerland) with twelve
subcoordinators (including TUM)
•  The total budget will be 1 billion EUR,
and it will involve over 150 core research
groups
•  It is an open project and will allow to add
more contribu0ng partners to work with
us
•  See hTp://www.humanbrainproject.eu
Cogni0ve Systems 32
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Simulate in order to

understand and to
harness the power!
Take a new approach

to brain disease
treatment by simu-‐
la0ng various hypo-‐
theses
•  Redefine HPC
•  Employ new
Computer
Architectures, incl.
Neuromorphics
•  Implement on
Robots
Cogni0ve Systems 33
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Neurorobo&cs

A Subproject of the Human Brain Project
hVp://neurorobo&cs.net
UPF 2014 Cogni0ve Architectures

Branch of Cogni&ve Systems: Neurorobo&cs
•  what is neurorobo0cs?

“A robo0c system comprised of a controller, a body, actuators and sensors, whose
controller architecture is derived from a model of the brain”

•  why neurorobo0cs?

1. beTer understanding of the brain understanding
through building
2. building useful machines!
Cogni0ve Systems 35
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Neurorobo&cs as sub-‐field of Bionics
Bio-‐inspirierte
Bionik
Robo&k
Neurobionik Neurorobo&k
Cogni0ve Systems 36
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Basic Architecture of Robot System
Communica0on and Adapta0on between A. Knoll et al.,

IEEE-ICRA 1997
•  Robot ↔ Human instructor/co-‐worker
•  Robot ↔ Environment
Cogni0ve Systems 37
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Future-‐Oriented Car Architectures will Look Similar

•  For automa0c driving adop0on of architectures from robo0cs for high-‐level
func0ons will be necessary (sensor processing, data fusion and data associa0on
services, redundancy, redundancy management, precise 0ming services, unified
communica0on services, trajectory planning, …)
•  Characteris0cs: mul0tude of sensors of different working principles
–  Real-‐0me reac0on necessary, fast feedback
–  Different levels of abstrac0on: direct control reac0on up to high-‐level-‐strategy
P C A
Environment/Work Space

•  Percep0on (all kinds of sensors) → Cogni0on (all kinds of processes) → Ac0on (all
kinds of actuators)
•  Sta0c and dynamic modularity with respect to different aspects, e.g., selec0on of
informa0on sources
Cogni0ve Systems
SS 2014

adapted from Moshe Bar
Cogni0ve Systems
SS 2014

Conclusions and “take home messages”

•  Look at the data – what do humans do? – before you start implemen0ng your
robot system
•  Make your robot’s behaviour predictable
•  Carefully design what your robot says – it should explain what it does
•  Think about when (and in what sequence) your robot takes an ac0on and how
the trajectories are determined
Ø  A lot of work is s0ll ahead of us before we can design reliable interac0on
systems for varying situa&ons
Cogni0ve Systems
SS 2014

Thanks for your aVen&on!
Cogni0ve Systems
SS 2014 41

2014 VL CogSys 1

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Fakultät

Robotics and Embedded Systems (Informatik VI, TUM)

Prof. Dr.-­‐Ing. habil. Alois Knoll

The genealogy of Roboy …

– Faculty in Informa&k LS VI – Robo&cs and Embedded Systems:

Some of our partners

TUM Mechanical Engineering

Research Structure at Informa&k VI

Robo0cs and Embedded Systems

Distributed Real-­‐0me Systems

Sensors Planning Integra0on Applica0ons

Vision/ Trajectory Joint Ac5on Medical

Research Structure at Informa&k VI

Methods Tools Integra0on Applica0ons

Some examples of our projects …

Further activities of the chair

• More informa0on: hVp://wwwknoll.in.tum.de

• Future industrial robots will (have to) be

for&ss – An-­‐Ins&tut der TUM

Contents of the Lecture

18.8. 19.8. 20.8. 21.8. 22.8.

• Sensors + Object detec0on

What is cogni&on?

… evolve their body structure? Y/N

Cognitive Systems in ...

Examples of recent AI systems

2011: IBM‘s Watson playing Jeopardy!

Examples of recent AI systems

2011: Apple‘s SIRI

What is Ar&ﬁcial Intelligence?

• The construc0on of intelligent systems (computers, smartphones,

Systems that think like humans

Top-­‐down approach: Cogni0ve sciences

Systems that act like humans

Turing-­‐test (Turing, 1950): Imita0on game using a screen/keyboard

Chinese Room Argument

Symbol Grounding Problem

Some thoughts about humans and machines

Technical Systems Humans

Technical Systems Humans

Our most prominent project participation

• The Human Brain Project HBP will be

Simulate in order to

Take a new approach

UPF 2014 Cogni0ve Architectures

Branch of Cogni&ve Systems: Neurorobo&cs

• what is neurorobo0cs?

Neurorobo&cs as sub-­‐ﬁeld of Bionics

Basic Architecture of Robot System

Communica0on and Adapta0on between A. Knoll et al.,

Future-­‐Oriented Car Architectures will Look Similar

adapted from Moshe Bar

Conclusions and “take home messages”

Thanks for your aVen&on!

Das könnte Ihnen auch gefallen

Prof. Dr.-‐Ing. habil. Alois Knoll

–  Faculty in Informa&k LS VI – Robo&cs and Embedded Systems:

Distributed Real-‐0me Systems

•  More informa0on: hVp://wwwknoll.in.tum.de

•  Future industrial robots will (have to) be

for&ss – An-‐Ins&tut der TUM

•  Sensors + Object detec0on

•  The construc0on of intelligent systems (computers, smartphones,

Top-‐down approach: Cogni0ve sciences

Turing-‐test (Turing, 1950): Imita0on game using a screen/keyboard

•  The Human Brain Project HBP will be

•  what is neurorobo0cs?

Neurorobo&cs as sub-‐ﬁeld of Bionics

Future-‐Oriented Car Architectures will Look Similar