Software Engineering in Robotics Internet to Robotics

Henrik I. Christensen hic@cc.gatech.edu

Outline

Introduction to robotics What motivates use of robotics? What are some of the main applications / drivers? Outline of some typical robot architectures Outlook in terms of new applications

Demographics 101

Demographics 101

Demographics consequences

Productivity in industrialized world must increase with 100% 50+ will soon be the majority of the population There is a need to increase productivity Healthcare will be (even further) challenged Quality of life support for elderly and handicapped Use of automation to provide food and basic supplies such as water

Traditional view of robotics

Robot manufacturing (in 000)

Where are industrial robots used?

Economic drivers for automation?

New applications for robots

Food Processing Very fast processing up to 6 items / second New design principles Requires sensor in the loop

ABB Flexpicker IRB20

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Automated palletizing of soft drinks

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Robots are moving beyond the factory

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Mobile robot applications

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Entertainment applications

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Hospital logistics

Nurses spend up to 10% of their time running errands Walking several miles per day These tasks can be automated

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Domestic cleaning

Sweepers / Cleaners Realistic cost target $200-400 A major challenge in design Multiple products have been launched iRobot Roomba by far most popular

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Commercial cleaning

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Robots for leisure activities

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Robot use

Workplace

Automation of tasks

Improvement in quality, higher speed, improved ergonomics Chemicals,

Handling of dangerous tasks

Assistance and support

Basic physical activities Early rehabilitation Medical intervention Environment search and management Handling of dangerous material and contexts Removal of people from areas of risk
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Protection and intervention

Robot design

Consideration of embodiment

What is the optimal shape function, esthetics, How will the robot interact with other agents?

Interaction patterns

Software design

Navigation localization and mapping Interaction people detection and interaction Functional aspects environment interaction Fusion into an integrated system

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Robot design architectures

Sense Plan Act

Well known engineering model Clear division of labor Function based Bottom-up definition Activity based Iterative prototyping Fusion can be a challenge
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Behavior Based

Hybrid solutions?

Robot design for this term

Robot Navigation System

Where am I?

Robot Localization comparison of sensory data to a map

Robot Planning using a map to generate a strategy to arrive a goal? Deliberative vs reactive control of the system? Robot Control and Decision Making actuation control

Where am I going?

When have I arrived?

Both SPA and behavior based design is possible

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Summary

Objective:

Provide an overview of robot motivation and use in industry Provide a broad introduction to robot applications Discuss the design of robot systems

Purely mechanical replication Sensor based designs Interactive robot systems

Provide a sketch of robot control design as a basis for further discussion

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Acknowledgement

This series of lectures has been developed with generous support from the Microsoft Corporation as part of the project Software Engineering in Robotics Contract # XXX-YYY. The support is gratefully acknowledged.

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