Скачать презентацию The Age of Robotics Kevin H Knuth Ph
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Скачать презентацию The Age of Robotics Kevin H Knuth Ph
Скачать презентацию The Age of Robotics Kevin H Knuth Ph
The Age of Robotics Kevin H. Knuth, Ph. D. Departments of Physics and Informatics University at Albany 2 May 2008 Kevin H Knuth
“If every tool, when ordered, or even of its own accord, could do the work that befits it. . . If the weavers' shuttles were to weave of themselves, then there would be no need either of apprentices for the master workers or of slaves for the lords. ” Aristotle, “De Republica Atheniensium”, ~322 BC 2 May 2008 Kevin H Knuth
Leonardo da Vinci The Father of Robotics Leonardo da Vinci 1452 -1519 2 May 2008 Kevin H Knuth NTIR 2008
Leonardo’s Robot Based on da Vinci’s sketches from 1495 The robot is a knight in German-Italian Medieval Armor 2 May 2008 Kevin H Knuth NTIR 2008
Leonardo’s Automata A small wooden car, powered by springs could be programmed by inserting various cogs and gears. (Image: Institute and Museum of the History of Science, Florence) 2 May 2008 Kevin H Knuth NTIR 2008
The Dream of Robotics has long been with us… Maria from Fritz Lange’s Metropolis (1927) 2 May 2008 Kevin H Knuth NTIR 2008
The Dream of Robotics has long been with us… The Tin Man Frank L. Baum’s The Wizard of Oz (1900 Book, 1939 Film) 2 May 2008 Robby the Robot Forbidden Planet 1956 Kevin H Knuth NTIR 2008
And has changed with us… Bender Futurama (1999 -Present) R 2 D 2 and C 3 PO Star Wars (1977) 2 May 2008 Kevin H Knuth NTIR 2008
Reality is always Stranger than Fiction… Opportunity currently on Mars Cassini in orbit around Saturn 2 May 2008 Kevin H Knuth NTIR 2008
And creeps up on us Unsuspectingly… 2 May 2008 Kevin H Knuth NTIR 2008
And creeps up on us Unsuspectingly… 2 May 2008 Kevin H Knuth NTIR 2008
How do we make them INTELLIGENT? 2 May 2008 Kevin H Knuth NTIR 2008
How Do We Function? 2 May 2008 Kevin H Knuth NTIR 2008
The Brain: The Living State of Matter 1011 -1012 Neurons 104 -105 Connections per Neuron Maximum Firing Rate: 1 ms 1 k. Hz massively parallel computer The Virtual Hospital, Ch 5, Williams, Gluhbegovic, and Jew Information Processed on order of 100 s ms MUST use Prior Information 2 May 2008 Kevin H Knuth NTIR 2008
A Powerful Computer Hree is an ecxlelnet eaxmlpe of how yuor wnodreful mnid can raed tihs txet eevn touhgh its all jmbuled. 2 May 2008 Kevin H Knuth NTIR 2008
Sounds and Prior Information Listen to these sounds… Sounds from Haskins Laboratories, Rubin, Remez, Pardo 2 May 2008 Kevin H Knuth NTIR 2008
Sounds and Prior Information Now listen to this one… Sounds from Haskins Laboratories, Rubin, Remez, Pardo 2 May 2008 Kevin H Knuth NTIR 2008
Sounds and Prior Information And now go back to this one… Sounds from Haskins Laboratories, Rubin, Remez, Pardo 2 May 2008 Kevin H Knuth NTIR 2008
Sounds and Prior Information What about the rest? Sounds from Haskins Laboratories, Rubin, Remez, Pardo 2 May 2008 Kevin H Knuth NTIR 2008
Prior Information is Key Only 10% of the inputs into primary visual cortex come from the retina via the lateral geniculate nucleus. The rest come from higher visual and frontal areas. Human Brain: basal view (front at top) The Virtual Hospital, Ch 5, Williams, Gluhbegovic, and Jew Perception can also be modified by attention. Thus the brain can actively focus on relevant information. 2 May 2008 Kevin H Knuth NTIR 2008
The Brain Models its Environment The frontal regions of the brain create models of the world based on prior experience. These models affect perception and attention. In addition, the brain models itself. The Virtual Hospital, Ch 5, Williams, Gluhbegovic, and Jew Experiments in multi-sensory processing has shown that the information processing is consistent with Bayes Theorem 2 May 2008 Kevin H Knuth NTIR 2008
Thinking Machines Your frontal lobes carry a model of yourself that is continually updated from data received from a dense sensor network. This implements both ‘Instrument Health Monitoring’ and ‘Calibration’ You learn from new data by updating your model of the world. You actively seek new data by asking relevant questions. 2 May 2008 Kevin H Knuth NTIR 2008
Body and Brain form a Symbiotic Unit 2 May 2008 Kevin H Knuth NTIR 2008
Relevant Information 2 May 2008 Kevin H Knuth NTIR 2008
Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Free Examination Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Estimate Ages of the People Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Remember their Clothes Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Estimate Material Circumstances Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
How Long has the Visitor been away? Three minute recording A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Relevance and Perception A. L. Yarbus, Eye Movements and Vision, Plenum, New York, 1967 (Originally published in Russian 1962) 2 May 2008 Kevin H Knuth NTIR 2008
Do We Analyze Everything? 2 May 2008 Kevin H Knuth NTIR 2008
http: //viscog. beckman. uiuc. edu/grafs/demos/15. html 2 May 2008 Kevin H Knuth NTIR 2008
Inattentional Blindness http: //viscog. beckman. uiuc. edu/grafs/demos/15. html http: //viscog. beckman. uiuc. edu/grafs/demos/10. html http: //viscog. beckman. uiuc. edu/grafs/demos/12. html 2 May 2008 Kevin H Knuth NTIR 2008
AUTOMATED INQUIRY 2 May 2008 Kevin H Knuth NTIR 2008
Spirit and Opportunity: Remote Science More and more are our instruments required to perform science operations further from the intervention of humans. Dust devils whip across Gusev Crater on Mars 2 May 2008 Kevin H Knuth NTIR 2008
The Expansive Floor of Gusev Crater 2 May 2008 Kevin H Knuth NTIR 2008
Rock Outcrop (Methuselah) 2 May 2008 Kevin H Knuth NTIR 2008
Underwater Robotic Explorers At the Monterey Bay Aquarium Research Institute (MBARI), researchers are employing robotic submarines to explore the Deep Pacific Ocean. 2 May 2008 Kevin H Knuth NTIR 2008
Intelligent Autonomous Instruments Require: § Stability Control § Instrument Health Monitoring § Automated Calibration § Accurate Onboard Data Analysis § Adequate Data Coverage § Ability to Actively Seek Data 2 May 2008 Kevin H Knuth NTIR 2008
Novel Instrument Design To accomplish these goals, these novel instruments must Monitor their own state (health and calibration) § Infer their state from self-sensing § Be equipped with dense sensor networks § Infer calibration parameters Learn from data § Make inferences from data § Perform hypothesis testing Ask new questions § Actively seek new data § Select optimal experiments 2 May 2008 Kevin H Knuth NTIR 2008
The Basic Components 2 May 2008 Kevin H Knuth NTIR 2008
The LEGO Mindstorms NXT System 1 2 Light Sensor 5 Kevin H Knuth Microphone 4 2 May 2008 Touch Sensor 3 $250! The NXT Brick is the brain of the system. Ultrasonic Rangefinder 6 Servo Motors NTIR 2008
Lego teams with Hi. Tecnic NEW! Accelerometer Prototype Board Color Sensor Digital Compass Sensor and Motor Multiplexers 2 May 2008 Kevin H Knuth NTIR 2008
Robotic Scientists This robot is equipped with a light sensor. It is to locate and characterize a white circle on a black playing field with as few measurements as possible. LANDMINE DETECTION! 2 May 2008 Kevin H Knuth NTIR 2008
The Robot’s “Thoughts” Past Measurement DARK Past Measurement LIGHT Area within Robot’s Reach colored according to ENTROPY 2 May 2008 Mean Circle Next Measurement Set of Hypothesized Circles Robot Center Kevin H Knuth NTIR 2008
'Am I already in the shadow of the Coming Race? and will the creatures who are to transcend and finally supersede us be steely organisms, giving out the effluvia of the laboratory, and performing with infallible exactness more than everything that we have performed with a slovenly approximativeness and self-defeating inaccuracy? ' George Eliot (Mary Anne Evans), The Impressions of Theophrastus Such, 2 May 2008 Kevin H Knuth 1879. NTIR 2008
Special Thanks to: And also to: John Skilling Ariel Caticha Janos Aczél Keith Earle Philip Erner Deniz Gencaga Philip Goyal Steve Gull Jeffrey Jewell Carlos Rodriguez Emily Knuth Rockne Knuth Ann Knuth Joshua Knuth Roland Derouen Bernadette Derouen 2 May 2008 For their patience with the robotic invasion that has been thrust upon them. Kevin H Knuth
Скачать презентацию The Age of Robotics Kevin H Knuth Ph
1b7a74cc1d1e9f8170536849fba738ba.ppt