Computer Science 444: Embedded / Robotic Programming
Unit 13: Summing Up – The Future of Robotics
In this last unit of the course we take the opportunity to wrap things up by looking at the future of robotics. In addition to giving numerous examples of where robots are going, we finish by examining the ethical implications of robots in modern society.
Learning Objectives
After completing this unit, you will be able to
- discuss the future of robotics.
- provide numerous examples for the uses of robots in the immediate future.
- discuss ethical implications of using robots in society.
Readings
Please read the following chapters in the textbook:
- Where to Next? (Chapter 22)
Questions to Ponder
At the end of each chapter in the assigned readings there are questions labelled “Food for Thought.” Please answer these questions as best you can in your weblog, which will become part of your portfolio of competence submitted for marking during this course.
Exercises
Exercises for this unit can be found in the Instructor’s Weblog on the Landing. Please follow along with the exercises and programs using your own Arduino kit, and keep a record of your explorations in your own weblog.
Further Readings
At the end of each chapter in the assigned readings you will find a section titled “Looking for More.” While the links and readings mentioned in this section are not assigned, please feel free to examine them if you are interested, or ask questions on the Landing.
Project and Final Exam
It is essential that you submit your completed project before you attempt the final exam, which needs to be written before the end of your 6-month contact.
The Textbook Companion Workbook Review
The companion workbook for the text can be found on Sourceforge: http://sourceforge.net/
The workbook is a work in progress according to the author, and it is presented as a wiki so that it can be edited and extended as the author’s courses are delivered. At the time of this study guide (Spring, 2013) the workbook is still unfinished. This review summarizes the current state of the workbook for students in COMP 444.
The workbook activities are specific to the iRobot platform and to the crafting of sensors for that platform. While program challenges and exercises can often be adapted from the workbook, in many cases it is more useful to consider it as both a resource and starting point for our exercises.
For my review of the current workbook, I denote exercises that we can adapt to Arduino with * after the exercise. For detailed discussion of these exercises, please refer to the Instructor’s Weblog on the Landing. Other sections indicated with ** should be read or watched as appropriate.
Main Page*
- Robotics Primer Video**
- Introduction**
Workbook Sections
Prerequisites*
- Purpose (hardware and software required)
- various iRobot configurations
Introduction*
- Purpose**
- again, discussing hardware and software
Robot Components*
- Purpose**
- Overview**
- Hardware
- Exercise 1 – Sensors and Sensor Space*
- list sensors*
- define sensor space and describe*
- add sonor sensor; what is new sensor space*
- Exercise 2 – Effectors and Actuators*
- difference between effectors and actuators*
- list actuators and effectors*
- list degrees of freedom of robot*
Locomotion*
- Purpose**
- Overview**
- Exercise 1 – Locomotion and Odometery*
- square path*
- odometry and measuring odometery error*
- bonus – program for rectangle, circle, and figure-eight*
- Exercise 2 – Path Following*
- line following*
- Exercise 3 – Homing*
- two light sensors and beacon*
- Exercise 4 – Teleoperation
- Exercise 5 – Holonomic and Non-Holonomic Control**
- questions
Sensors*
- Purpose**
- Overview**
- Exercise 1 – Sensors and Levels of Processing*
- questions**
- Exercise 2 – Infra-red Sensor*
- setup*
- calibration*
- obstacle avoidance*
- Exercise 3 – Sonor Sensor*
- setup*
- calibration*
- obstacle avoidance*
- Exercise 4 – Infra-Red and Sonar Wall-following*
- Exercise 5 – Laser Sensor
- setup
- obstacle avoidance
- robot following
- Exercise 6 – Color Blob Tracking
- setup
- color blob detection
- lights and colors
- color tracking
- Exercise 7 – Person Following*
Feedback Control (exercises incomplete)*
- Purpose*
- Overview*
- Exercise 1 – Proportional Control
- Exercise 2 – Proportional + Derivative Control
- Exercise 3 – Proportional + Derivative + Integral Control
Deliberative Control*
- Purpose**
- Overview**
- Exercise 1 – Maze Navigation (simulation)
- Exercise 2 – Topological Path Planning (simulation)
Reactive Control*
- Purpose**
- Overview**
- Exercise 1 – Safety and Obstacle Avoidance (simulation)
- Exercise 2 – Wall Following (simulation, incomplete)
Hybrid Control*
- Purpose**
- Overview**
- Exercise 1 – Path Planning (simulation)
- Exercise 2 – Room Coverage
Behavior-Based Control*
- Purpose**
- Overview**
- Exercise 1 – Obstacle Avoidance
- Exercise 2 – Wall-following Revisited
- Exercise 3 – Flocking (simulation)
Emergent Behavior*
- Purpose**
- Overview**
- Exercise 1 – Wall Following
- Exercise 2 – Flocking (simulation)
- Exercise 3 – Herding (simulation)
- Exercise 4 – Formations (simulation)
Navigation*
- Purpose**
- Overview**
- Exercise 1 – Maze Planning in Map
- Exercise 2 – Topological Map Path Planning
- Exercise 3 – Building a Map of a Maze
- Exercise 4 – Coverage
Group Robotics (simulations)*
- Purpose**
- Overview**
- Exercise 1 – Aggregating
- Exercise 2 – Dispersing
- Exercise 3 – Predator–Prey
- Exercise 4 – Herding
- Exercise 5 – Formations
- Exercise 6 – Flocking
Learning*
- Purpose**
- Overview**
- Exercise 1 – Learn to Follow a Line (incomplete)
- Exercise 2 – Learn to Avoid Obstacles (incomplete)