Robotica - Introdução

Robotics
An introduction
Manuel F. M. Costa
Fernando Ribeiro
Universidade do Minho
PORTUGAL
Training Seminar “Brief Introduction to Educational Robotics”
Baystreet Hotel, St. Julians, Malta
March 31st, 2007
The AESTIT Comenius 2.1 project no. 226381-CP-1-2005-1-GR-COMENIUS-C21
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Introduction
From many centuries man creates
mechanisms to imitate parts of the human
body. Technological development lead to
significant improvements. The most recent
ones are called..
ROBOTS.
Há séculos que as pessoas vêm criando mecanismos
para imitar partes do corpo humano. Estes
mecanismos têm vindo a ser melhorados através dos
tempos com o desenvolvimento da tecnologia. Os
mais recentes são chamados Robôs.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Agenda
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História da Robótica
Desenvolvimentos na tecnologia
Definições de Robô e Robótica
Descrição de uma célula
Robôs inovadores
Aplicações práticas existentes
Indústria
Laboratórios
Controlo remoto
Agricultura
Espaço
Submersíveis
Educação
Para deficientes
De serviços
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
History
5,000 BC The abacus, which resembles the
arithmetic unit of a modern computer, is
developed in the Orient.
3000-700 BC Water clocks are built in China in
3000 BC, in Egypt 1500 BC, and in Assyria 700
BC
2500 BC Egyptians invent the idea of thinking
machines: citizens turn for advice to oracles,
which are statues with priests hidden inside.
400 BC Philosopher and mathematician Archytas
of Tarentum built a wooden dove that could flap
its wings and fly.
200 BC.In China artisans develop elaborate
automata, including an entire mechanical
orchestra
200 BC The Greek inventor and physicist
Ctesibus ('ti sib ee uhs') of Alexandria designs
water clocks that have movable figures on them.
Up until then the Greeks used hour glasses that
had to be turned over after all the sand ran
through. In general, the Greeks were fascinated
with automata of all kinds often using them in
theater productions and religious ceremonies.
200 BC An Egyptian engineer improves the
water clock, making it the most accurate
timekeeping device for nearly 2,000 years.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
1495 Leonardo DaVinci designs a mechanical device that looks
like an armored knight. The mechanisms inside "Leonardo's
robot" are designed to make the knight move as if there was a
real person inside. Inventors in medieval times often built
machines like "Leonardo's robot" to amuse royalty.
15?? Hans Bullmann creates the first androids - simulated
people that can play musical instruments for the delight of
paying customers.
1533 In his laboratory at Nuremburg, scholar Johann Müller,
created an iron fly and an artificial eagle that could take to the
air.
1543 In England, John Dee creates a wooden beetle that can
fly.
1725 At the Heilbrunn chateau in Germany, a mechanical
theatre is created featuring 119 animated figures that perform a
play about village life to the accompaniment of a waterpowered organ.
While training as a Jesuit, Jacques Vaucanson creates flying
angels which cause him to be thrown out of the order.
1737 Vaucanson creates a mechanical musician that can play
11 different tunes. He also creates an automatic duck that can
drink, eat, paddle in water, digest and excrete like a real duck.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
1801 Joseph-Marie Jacquard invents a method of
controlling looms using with holes punched cards.
1833 Charles Babbage begins work on the Analytical
Engine - one of the first computational machines.
1890 Nikolai Tesla creates the first remote-controlled
vehicles.
1921 Czech author Karel Capek publishes the play
R.U.R (Rossum's Universal Robots), in which humanlike machines are create to replace human workers.
1926 Fritz Lang's movie "Metropolis" is released.
"Maria" the female robot in the film is the first robot to
be projected on the silver screen.
1936 Alan Turing completes his seminal paper On
Computable Numbers, which paves the way for
modern computers.
1942 Isaac Asimov writes Runaround in which he first
sets out the three laws of robotics.
1943 Colossus, the world's first electronic computer, is
built in Britain by a team of mathematicians, electrical
engineers and intelligence agents to crack Nazi codes.
1945 Eniac, which set the framework for post-war
mainframes, is switched on.
The first Computer BUG.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
1948-9 British robotics pioneer William Grey Walter creates
autonomous machines called Elmer and Elsie that mimic
lifelike behaviour with very simple circuitry.
1950 Alan Turing proposes the Turing Test to decide if a
computer is exhibiting intelligent behaviour.
‘I Robot’, Isaac Asimov
1954 George Devol and Joe Engleberger create the world's first
industrial robots. Unimation company
1966 The Stanford Research Institute creates Shakey, the first
mobile robot that can reason about its surroundings. Five years
later, funding is cancelled when the shortcomings of the
machine become apparent.
1973 The AI department at Edinburgh, UK, shows off Freddy
II, a robot that could assemble objects automatically from a
heap of parts.
1975 Victor Scheinman develops the Programmable Universal
Manipulation Arm (Puma), which becomes widely used in
industrial robots.
1994 A robot called Dante II, built by scientists from Carnegie
Mellon, strolls around the interior of the Mount Spurr volcano
in Alaska, US, collecting samples of volcanic gases as it goes.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
1996 A robo-tuna developed by MIT scientist
Michael S. Triantafyllou is tested in a water tank.
Honda unveils the P-2 (prototype 2), a humanoid
robot that can walk, climb stairs and carry loads.
1997 Smart computer programs become widely used on the
web to ferret out information.
(May) World chess champion Garry Kasparov loses to
IBM's Deep Blue supercomputer.
(July) Nasa's pathfinder spacecraft touches down on Mars.
Soon after, it releases the Sojourner robot rover that
trundles about the planet's surface carrying out science
experiments for the space agency.
(July) The first RoboCup football tournament is held in
Nagoya, Japan.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
1998 Cynthia Breazeal at MIT starts work on the Kismet robot,
which can mimic the emotional range of a baby.
Scottish hotel owner Campbell Aird is fitted with the world's
first bionic arm.
October Nasa launches the Deep Space 1 autonomous
spacecraft which will test technologies to be used in future
missions crewed and conducted solely by robots.
Furby is launched.
LEGO Mindstorms is launched.
1999 May Sony releases the first Aibo electronic dogs that sell
out within 20 minutes of going on sale.
2000 October The UN estimates that there are 742,500
industrial robots in use worldwide. More than half of these are
being used in Japan.
Honda debuts new humanoid robot ASIMO.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
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Egípcios - Braços mecânicos
Gregos - Estátuas hidráulicas
Talos, Automatic doors, Heronas’ steam engine,
Air and water pumps
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Europa - Fantoches mecânicos
Características
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Dedicados apenas a uma tarefa
Apenas para entretenimento
Fernando Ribeiro
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Desenvolvimentos da
Tecnologia
Principais características
● Dedicados apenas a uma tarefa
● Apenas para entretenimento
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Computadores electrónicos modernos
Actuadores controlados por feedback
Transmissão de movimentos através de
rodas dentadas
Tecnologia de sensores
Inteligência Artificial
Controlo remoto
Veículos subaquáticos
Robôs no espaço
Fernando Ribeiro
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Definition of Robot
Robot Institute of America (1979)
“A reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks.”
Webster Dictionary
"An automatic device that performs functions
normally ascribed to humans or a machine in the
form of a human."
McKerrow
Máquina que pode ser programável para fazer uma
variedade de tarefas, da mesma maneira que um
computador é um circuito electrónico que pode ser
programado para fazer uma variedade de tarefas.
Japan
Any setup that substitute the man.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Robot – is a slave word that means worker
or forced worker.
Law 1: A robot may not injure a human being, or
through inaction allow a human being to come
to harm.
(Um robô não causará dano a um ser humano
nem, através de omissão, permiti-lo)
Law 2: A robot must obey the orders given it by
human beings, except where such orders
would conflict with the first law.
(Um robô deve obedecer aos seres humanos, a
menos que isso viole a lei 1)
Law 3: A robot must protect its own existence as
long as such protection does not conflict with
the first or second law.
(Um robô deve proteger a sua existência, a menos
que isso viole as leis 1 ou 2)
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Definition of Robotics
Robotics is the link between perception
and action.
Robótica é a ligação inteligente da percepção
à acção.
(Brady, 1985)
Robótica é uma disciplina que envolve:
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o design, a produção, o controlo e
programação de robôs
o uso de robôs para resolver
problemas
o estudo do processo de controlo,
sensores e algorítmos usados em
humanos, animais e máquinas
a aplicação destes processos de
contrôlo e algorítmos no design de
robôs
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Robotic Cellule
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Mosher’s Walking Truck
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Shakey
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Wasubot
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Hopper
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Hero 2000
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
RM3
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
AGV
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Aplicações
Os Robôs são usados em muitos tipos
diferentes de aplicações desde soldadores
em fábricas de carros até braços
controlados remotamente no ‘space
shuttle’. Cada aplicação tem os seus
problemas e requer por isso diferentes
requisitos. Algumas dessas aplicações são
aqui demonstradas e explicadas.
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Distribuição por Aplicações (UK)
Distribuição por Indústria (UK)
Indústria
Laboratórios
Controlo remoto
Agricultura
Espaço
Submersíveis
Educação
Para deficientes
De serviços
Fernando Ribeiro
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Robot’ Distribuiton by
Aplication (UK 1994)
Forge/Inv.Casting/Other
330
Water Jet / Laser Cut
100
Glueing / Sealing
234
Hazardous / Biochem
92
385
Education / Research
Handling / Palletising
634
176
Inspection / Test
Machine / Press Load
860
Injection Moulding
1677
Die Casting
91
Assembly
538
Grinding/Deburring
128
Arc Welding
1528
2055
Spot Welding
Surface Coating
381
66
Not Specified
0
Fernando Ribeiro
500
1000
1500
2000
2500
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Robot’ Distribuiton in
Industry (UK 1994)
Not Specified
55
Other Industries
956
Textile/Footwear/Clths
8
Education/R&D
12
Ceramics/Stone
4
Healthcare
4
Timber/Paper/Furn.
59
1765
Rubber/Plastics
751
Metal Goods & Manuf.
Mechanical Eng.
524
Food/Drink/Pharm.
152
Energy/Water Supply
138
645
Electric/Electronic
Automotive
3983
219
AeroSpace/Shipbuild
0
Fernando Ribeiro
500
1000
1500
2000
2500
3000
3500
4000
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Industry
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Welding
– Arc Welding
– Spot Welding
Painting
● Assembly lines
● Mechanical work
● Cut (Laser/Water)
● Quality Control
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Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Assembly Lines
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Plane’ cleanning
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Labs
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Remote Control
Vehicles
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Controlo Remoto
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Inspecionar dentro de vulcões
Detonadores de bombas
Aviões de reconhecimento não
pilotados
Robôs no espaço (space shuttle)
Colocação de cabos nos oceanos
Trabalho em locais impossíveis de
viver para o ser humano
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Agriculture
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Space
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Submersibles
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Education
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Programas educacionais usando
simulação (KAREL)
Robôs tartarugas (LOGO)
Pequenos Robôs idênticos aos
industrias (à escala) mas de baixo
preço, performance e sem sensores.
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Tasman Turtle
Fischertechnik
RB5X
Fernando Ribeiro
Scorbot
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Research
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Handicap
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
Services
Fernando Ribeiro
Manuel F. M. Costa
Training Seminar “Brief Introduction to Educational Robotics”, March 31st, 2007, Baystreet Hotel, St. Julians, Malta
… future…
The AESTIT Comenius 2.1 project no. 226381-CP-1-2005-1-GR-COMENIUS-C21
Fernando Ribeiro
Manuel F. M. Costa