Chapter AR/VR/Robotics

Augmented Reality

Augmented Reality

Virtual objects overlaid on a view of the real world

Virtual Reality

The real word is entirely replaced with a virtual environment

Optical See-through

The real-world view is seen directly through a lens or smart glass where virtual objects are rendered

Video See-through

The real world is seen indirectly through a video camera, virtual objects are rendered on the video screen

Image Tags

Calculates 3D distance and orientation based on skewed views of a known image

Inertial Measurement Unit (IMU)

Electronic sensor that can measure 3D movements based on gravity and inertia

Robotics Disciplines

Robotics involves Mechanical Engineering, Electrical Engineering, and Computer Science

Robot

A robot is a system that can: A system that can: SENSE things about itself or its environment PLAN what to do based on its goals and sensors ACT on its goals and affects the environment in some way

Major Robot Subsystems

Power: Making sure all components have enough electrical power Perception: What a robot can sense and understand about itself and its environment Decision Making: The step between Perception and Manipulation (the majority of coding goes here!) Deciding what our goal is and how to achieve it Manipulation: How a robot can move within and interact with objects in the environment

Sensor

perception of the external world and the robot’s internal state Ex: Cameras, buttons, remotes, distance sensors, accelerometers, GPS

Controller

Controller: decision making component, reads sensor’s data and determines actuator’s responses Ex: microcontrollers, embedded computers

Actuator

Actuators: the manipulation of the robot and its surroundings Ex: movement, arms, tools, motors, servos, hydraulics

The Three D's

Robots are most commonly for situations or tasks that are: DULL: Repetitive, predictable, or simple tasks like assembly lines DIRTY: Sanitation, sewer repair. Used UV robot to sterilize masks for hospital workers! DANGEROUS: Outer space, underwater, de-mining battlefields, navigating resource minesA

Autonomy

The ability of a robot or machine to act without human control or intervention

Autonomy Levels

Level 0 - No Autonomy (Full human control, normal machinery) Level 1 - Robotic Assistance (Robot assistance, helps with safety limits) Level 2 - Task Autonomy (Small portions of functionality are automated) Level 3 - Conditional Autonomy (Decisions and movements are approved by supervisor) Level 4 - High Autonomy (Mostly automatic, supervisor for emergency interventions) Level 5 - Full Autonomy (Robot acts fully alone throughout entire task or program)