Robotics and AI

Robotics and AI Introduction

  • Presenter: Dr. Laxmidhar Behera

  • Affiliations: Director, IIT Mandi; Professor, IIT Kanpur

2024 Nobel Prize in Physics

  • Awarded To:

    • John J. Hopfield

    • Geoffrey E. Hinton

  • Contribution: Discoveries enabling machine learning with artificial neural networks

  • Date: October 8, 2024

Intelligent Controllers for Nonlinear Systems

  • Challenge: Model uncertainties and unmodeled dynamics require alternative control approaches.

  • Observation: Biological systems exhibit the most successful controls on earth.

  • Solution: Develop intelligent controllers that learn system dynamics with minimal information.

Variable Gain Controller with TS Fuzzy Model

  • Design Model: TS fuzzy system representing local dynamics.

  • Asymptotic Stability: Global dynamics modeled; effective control strategy derived.

  • References:

    • Patchaikani, Kar, and Behera (2006, IEEE SMC-B)

    • Kar et al. (2012, Fuzzy Sets and Systems)

Historical Evolution of Control Systems

Early Feedback Devices

  • Water Clock:

    • Invented by Ktesibios, Alexandria, 3rd century B.C.

    • Operated on regulated liquid flow for timekeeping.

  • James Watt's Flyball Governor: Regulated steam engine speed; analyzed mathematically by J.C. Maxwell.

Milestones in Feedback Control

  1. Mechanical Clock: Scientific Revolution

  2. Centrifugal Governor: Industrial Revolution

  3. Aileron: Controlled Flight – Age of Aviation

  4. Gyro: Guidance in the Space Age

  5. Electronic Feedback: Amplifiers for control systems

Current State of Robotics Technology

  • Interdisciplinary Field: Encompasses engineering, computer science, and AI.

  • Application Areas:

    • Healthcare

    • Manufacturing

    • Space Exploration

  • Key Drivers: Advances in AI, machine learning, materials science.

Key Areas in Robotics

1. Artificial Intelligence and Machine Learning

  • Enhancements in decision-making and robot autonomy.

  • Real-time data processing capabilities.

2. Soft Robotics

  • Usage of flexible materials promotes safety in human-robot interactions.

  • Applicable in healthcare and sensitive manufacturing.

3. Swarm Robotics

  • Coordination among multiple robots to tackle complex tasks.

  • Inspired by biological systems, simulating behaviors of ant colonies.

Robotics in Healthcare

  1. Surgical Robots: Facilitating precision and minimally invasive procedures.

  2. Rehabilitation Robots: Aiding mobility recovery in patients.

  3. Elderly Care Robots: Social robots like Pepper providing companionship.

Robotics in Industry

  1. Cobots: Collaborate with humans in manufacturing settings.

  2. Autonomous Vehicles: Revolutionizing logistics with self-driving technology.

  3. Advanced Sensors: Increasing industrial efficiency and safety.

Robotics in Space

  1. Mars Rovers: Perseverance exploring Martian terrain.

  2. Robotic Arms: Assisting in satellite maintenance (e.g., Canadarm).

  3. Future Missions: Focus on lunar and asteroid mining robots.

Challenges in Robotics

  1. Ethical Considerations: Privacy concerns, job displacement, and decision-making autonomy.

  2. Technical Limitations: Issues with battery life, computational power, and durability of materials.

  3. Cost Factors: High expenses associated with development and deployment.

Future Trends in Robotics

  1. Human-Robot Collaboration: Integration within daily life frameworks.

  2. Robots with Emotional Intelligence: Enhancing interaction capabilities with humans.

  3. Biomimicry: Nature-inspired robots for improved functionalities.

Notable Robot Types and Functionalities

Line Following Robots

  • Utilize IR sensors to detect and follow paths on the ground.

Obstacle Avoidance Robots

  • Employ fuzzy controllers using sonar input to navigate around barriers.

Asimo

  • A humanoid robot capable of running up to 6 km/h.

Classification of Mobile Robots

  1. Land or Home Robots: Usually wheeled or legged types.

  2. Aerial Robots: Typically referred to as UAVs.

  3. Underwater Robots: Known as autonomous underwater vehicles (AUVs).

Evolution of Early Robots

  • Grey Walter’s Turtles (1948-49): Autonomous robots that demonstrated complex behavior from simple designs.

  • Mowbot (1969): The first autonomous lawn mower, allowing for automation in gardening.

  • Shakey at Stanford: Integrated robotics with computer vision and command processing.

  • C-3PO and R2-D2: Introduced robotic characters to the public in the Star Wars franchise.

Notable Developments in Robotics

Ghenghis (1988, MIT)

  • A six-legged walker innovatively learning to navigate using independent leg adjustments.

Khepera (1991)

  • Developed for research, facilitating various robotic studies.

Dante I and II (1994)

  • Used for exploration of active volcanoes, showcasing advanced robotic mobility.

Advanced Robotics Concepts

Adaptive Learning and Control Techniques

  1. Adaptive Distributed Fuzzy PD Controller:

    • Facilitates advanced control through fuzzy logic.

  2. Online Adaptation Algorithms: Ensuring system stability using Lyapunov functions.

  3. Approximate Dynamic Programming: Combines optimal control problems with neural networks.

Robotics Education and Workforce Trends

  • Significant transition in the field producing cognitive robots and associated skills.

  • Integration of advanced robotics into educational curricula globally.

Conclusion: Looking to the Future

  • Continued expansion in robotic capabilities poised to influence various sectors and enhance human-robot connections.

  • Research focused on human-like robots may offer insights into cognition and emotional intelligence in machines.

Thank You!