Applications of Robotics and Artificial Intelligence Part 14 ppsx

3-D vision systems, structured light, and stereo approaches to acquiring depth image are rudimentary and only beginning to emerge from laboratories into commercial systems VLSI implem

Vision Sensors

16 Current commercial systems are

restricted to binary image and simple

features; gray-scale and color are

available today only in very restrictive

form

17 3-D vision systems, structured light, and stereo approaches to acquiring depth

image are rudimentary and only beginning to emerge from laboratories into commercial

systems

VLSI implementation now in labs will be

commercialized This will facilitate edge images from gray-scale data, and richer

feature sets will be developed

Laboratory systems of several varieties

will be commercially available They will produce depth maps in controlled

situations, but they will be slow, will

produce noisy images, and have limited

resolution They will permit 3-D surface

inspection and will discriminate objects

Systems that permit rapid recognition and provide orientation of limited classes of objects from arbitrary points of view

Reliable hardware for depth images and

systems for tracking and recognizing moving objects

Contact and Tactile Sensing

18 Few robots have force or tactile

sensors The IBM RSI is an exception

Limited use of commercialized RCC and IRCC versions of Draper Research products

Force-sensing wrists and techniques for

programming and controlling force will be available They are likely to work only in benign situations, but should be able to

tighten nuts, insert shafts, pack objects simple assembly operations Will not yet be good enough to examine objects by feeling them

Well-established techniques for creating

and using these sensors will be developed Determining shape of objects, detecting

slippage in grip, inspecting for cracks,

and programming in the force domain will be possible Touch sensors will be implemented

in hardware, probably using VLSI

technology This will permit all of the

above and offer a wider range of force

Artificial Intelligence

19 Expert systems that work effectively in providing competent analysis within a

e.g oil exploration, medical diagnosis,

VLSI design, are being customized and

commercialized They are limited by a

narrow body of simple interactions, and

they take a single perspective on the

problem There are no generalized ways to build the expert systems

20 Natural-language data base access

methodology is limited to single-shot query systems for specific data bases Some

require restricted subsets of English

grammar, but others are more general about input Commercial systems are just starting

Automated design assistance for building

and updating expert systems Formalization

of knowledge gathering and integration of graphic displays for use in some

applications Integration with robot

control systems and sensors to provide

controlled expertise for limited domains, e.g., arc welding

New sophisticated dialog capabilities for interactive sessions will appear Some

developments will permit the start of

natural-language data bases The connection

of expert systems to natural language will begin

Integrated systems that draw on multiple

domains of expertise to formulate problem solutions Possibly total automation in

generating new expert systems for certain domains Self-diagnosing and limited

repair of electronic equipment limited

repair of electronic equipment

The hard line between natural-language

query and expert systems will disappear

Systems will be integrated, but the domain

21 Automated assistants research is now

going on in a variety of tasks, such as

word processing, text editing, and office automation ion

22 Knowledge representation in restricted domains is now workable (see entries

19-21) But learning, problem-solving, and

Systems that assist and familiarize users with the capabilities of the system being used

Increased understanding of tradeoffs

between independent and

Integrated systems that draw on multiple

domains and provide the user with with

greater task flexibility

Possibly a notation system that allows

formulation of models that are sensitive to domain constraints without having specific commitments to particular domains

Control Structure/Programming Methodology

23 The control hierarchy of robots

sometimes implemented on multiple

microprocessors has at most 5 levels now.

1 Servo control of joints

2 Coordinate transformation and

coordinated joint motion.

3 Interpolated path planning for smooth

Individual elements of progress (not all in any one offering) will be developed.

Graphical layout of robotic cells and

programming will be commercialized

Hierarchical task-oriented interface

languages designed for process planners

Levels six and seven as defined in the

previous column will permit

domain-dependent , sensor-based intelligent

robots Many integration issues and

advances to technology will still be open questions Robotics will broaden in scope beyond manufacturing to limited-domain

Now In 5 Years In 10 Years

4 Simple subroutines, use of sensors, and lock-step coordination

5 Rudimentary operating system, structural language, complex sensor interface,

Robot operating systems will do more for the user who uses sensors to permit task

orientation

Interfaces to other nonhomogeneous

computers will broaden coordination beyond lock-step available now

Multiple arm, dexterous hand, locomotive control, and other new mechanical advances

will define a sixth level of control and be available

The incorporation of AI technology in the form of expert systems, natural-language

front ends) and knowledge representation

will define a seventh level of control.

Data bases from CAD, CAM) and other

sources will be incorporated to the

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AFOSR Air Force Office of Scientific Research

ASP Automated Ammunition Supply Point

BITE built-in test equipment

CMU Carnegie-Mellon University

FMS flexible manufacturing system

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MIC

MIT

MYCIN

NBC

NBS

NSF

ONR

Prospector

PUFF

P3I

RAIL

RAMS

R&D

REMBASS

RIA

RPI

SAR

SRI

VAL

VHF

VHSIC

VIMAD

VLSI

Machine Intelligence Corporation Massachusetts Institute of Technology

of infectious diseases nuclear, biological) and chemical National Bureau of

pulmonary function diagnosis expert system preplanned product improvement Pascal-based second generation language by IBM reliability, availability,

and supportability research and development

Rensselaer Polytechnic Institute synthetic aperture radar Stanford Research

set of projects for onboard, embedded sensing of vehicular malfunctions with built-in test equipment (BITE)