Artificial Intelligence 简明教程

Artificial Intelligence - Robotics

机器人技术是人工智能的一个领域，它涉及创建智能和高效机器人。

Robotics is a domain in artificial intelligence that deals with the study of creating intelligent and efficient robots.

What are Robots?

机器人是在真实世界环境中工作的代理。

Robots are the artificial agents acting in real world environment.

Objective

机器人的目的是通过感知、拾取、移动、修改对象的物理属性、销毁对象或产生影响，从而操纵对象，从而使人力自由执行重复功能，而不会感到厌烦、分心或疲惫。

Robots are aimed at manipulating the objects by perceiving, picking, moving, modifying the physical properties of object, destroying it, or to have an effect thereby freeing manpower from doing repetitive functions without getting bored, distracted, or exhausted.

What is Robotics?

机器人技术是人工智能的一个分支，由电气工程学、机械工程学和计算机科学组成，用于设计、构建和应用机器人。

Robotics is a branch of AI, which is composed of Electrical Engineering, Mechanical Engineering, and Computer Science for designing, construction, and application of robots.

Aspects of Robotics

  1. The robots have mechanical construction, form, or shape designed to accomplish a particular task.

  2. They have electrical components which power and control the machinery.

  3. They contain some level of computer program that determines what, when and how a robot does something.

Difference in Robot System and Other AI Program

以下是两者的区别−

Here is the difference between the two −

AI Programs

Robots

They usually operate in computer-stimulated worlds.

They operate in real physical world

The input to an AI program is in symbols and rules.

Inputs to robots is analog signal in the form of speech waveform or images

They need general purpose computers to operate on.

They need special hardware with sensors and effectors.

Robot Locomotion

运动是使机器人能够在其环境中移动的机制。有许多不同类型的运动 −

Locomotion is the mechanism that makes a robot capable of moving in its environment. There are various types of locomotions −

  1. Legged

  2. Wheeled

  3. Combination of Legged and Wheeled Locomotion

  4. Tracked slip/skid

Legged Locomotion

  1. This type of locomotion consumes more power while demonstrating walk, jump, trot, hop, climb up or down, etc.

  2. It requires more number of motors to accomplish a movement. It is suited for rough as well as smooth terrain where irregular or too smooth surface makes it consume more power for a wheeled locomotion. It is little difficult to implement because of stability issues.

  3. It comes with the variety of one, two, four, and six legs. If a robot has multiple legs then leg coordination is necessary for locomotion.

机器人可以行走的总 gaits （每个总腿部抬起和释放事件的周期性序列）的数量取决于其腿部的数量。

The total number of possible gaits (a periodic sequence of lift and release events for each of the total legs) a robot can travel depends upon the number of its legs.

如果一个机器人有 k 条腿，那么可能的事件数为 N = (2k-1)！。

If a robot has k legs, then the number of possible events N = (2k-1)!.

在两足机器人的情况下（k=2），可能的事件数为 N = (2k-1)！ = (2*2-1)！ = 3！ = 6。

In case of a two-legged robot (k=2), the number of possible events is N = (2k-1)! = (2*2-1)! = 3! = 6.

因此，有六个可能的不同事件 −

Hence there are six possible different events −

  1. Lifting the Left leg

  2. Releasing the Left leg

  3. Lifting the Right leg

  4. Releasing the Right leg

  5. Lifting both the legs together

  6. Releasing both the legs together

在 k=6 条腿的情况下，有 39916800 个可能的事件。因此机器人的复杂度与腿数成正比。

In case of k=6 legs, there are 39916800 possible events. Hence the complexity of robots is directly proportional to the number of legs.

bipedal robot

Wheeled Locomotion

它需要较少的电机来完成运动。它很容易实现，因为在轮子较多的情况下，稳定性问题较少。与腿部运动相比，它具有节能性。

It requires fewer number of motors to accomplish a movement. It is little easy to implement as there are less stability issues in case of more number of wheels. It is power efficient as compared to legged locomotion.

  1. Standard wheel − Rotates around the wheel axle and around the contact

  2. Castor wheel − Rotates around the wheel axle and the offset steering joint.

  3. Swedish 45o and Swedish 90o wheels − Omni-wheel, rotates around the contact point, around the wheel axle, and around the rollers.

  4. Ball or spherical wheel − Omnidirectional wheel, technically difficult to implement.

wheeled robot

Slip/Skid Locomotion

在这种类型中，车辆使用履带，就像坦克一样。通过以相同或相反的方向以不同的速度移动履带来操纵机器人。由于履带和地面之间的接触面积大，因此提供了稳定性。

In this type, the vehicles use tracks as in a tank. The robot is steered by moving the tracks with different speeds in the same or opposite direction. It offers stability because of large contact area of track and ground.

tracked robot

Components of a Robot

机器人的构建需要以下方面：

Robots are constructed with the following −

  1. Power Supply − The robots are powered by batteries, solar power, hydraulic, or pneumatic power sources.

  2. Actuators − They convert energy into movement.

  3. Electric motors (AC/DC) − They are required for rotational movement.

  4. Pneumatic Air Muscles − They contract almost 40% when air is sucked in them.

  5. Muscle Wires − They contract by 5% when electric current is passed through them.

  6. Piezo Motors and Ultrasonic Motors − Best for industrial robots.

  7. Sensors − They provide knowledge of real time information on the task environment. Robots are equipped with vision sensors to be to compute the depth in the environment. A tactile sensor imitates the mechanical properties of touch receptors of human fingertips.

Computer Vision

这是一项人工智能技术，机器人可以借此“看见”。计算机视觉在安全、安保、健康、访问和娱乐领域发挥着至关重要的作用。

This is a technology of AI with which the robots can see. The computer vision plays vital role in the domains of safety, security, health, access, and entertainment.

计算机视觉从单幅图像或图像阵列中自动提取、分析和理解有用的信息。此过程涉及开发算法以实现自动视觉理解。

Computer vision automatically extracts, analyzes, and comprehends useful information from a single image or an array of images. This process involves development of algorithms to accomplish automatic visual comprehension.

Hardware of Computer Vision System

这涉及：

This involves −

  1. Power supply

  2. Image acquisition device such as camera

  3. A processor

  4. A software

  5. A display device for monitoring the system

  6. Accessories such as camera stands, cables, and connectors

Tasks of Computer Vision

  1. OCR − In the domain of computers, Optical Character Reader, a software to convert scanned documents into editable text, which accompanies a scanner.

  2. Face Detection − Many state-of-the-art cameras come with this feature, which enables to read the face and take the picture of that perfect expression. It is used to let a user access the software on correct match.

  3. Object Recognition − They are installed in supermarkets, cameras, high-end cars such as BMW, GM, and Volvo.

  4. Estimating Position − It is estimating position of an object with respect to camera as in position of tumor in human’s body.

Application Domains of Computer Vision

  1. Agriculture

  2. Autonomous vehicles

  3. Biometrics

  4. Character recognition

  5. Forensics, security, and surveillance

  6. Industrial quality inspection

  7. Face recognition

  8. Gesture analysis

  9. Geoscience

  10. Medical imagery

  11. Pollution monitoring

  12. Process control

  13. Remote sensing

  14. Robotics

  15. Transport

Applications of Robotics

机器人一直在以下领域发挥关键作用：

The robotics has been instrumental in the various domains such as −

  1. Industries − Robots are used for handling material, cutting, welding, color coating, drilling, polishing, etc.

  2. Military − Autonomous robots can reach inaccessible and hazardous zones during war. A robot named Daksh, developed by Defense Research and Development Organization (DRDO), is in function to destroy life-threatening objects safely.

  3. Medicine − The robots are capable of carrying out hundreds of clinical tests simultaneously, rehabilitating permanently disabled people, and performing complex surgeries such as brain tumors.

  4. Exploration − The robot rock climbers used for space exploration, underwater drones used for ocean exploration are to name a few.

  5. Entertainment − Disney’s engineers have created hundreds of robots for movie making.