Robotics in todays world: Some applications

Dra. America Berenice Morales Daz

CINVESTAV
Unidad Saltillo

Abril 2014

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

1 / 41

video

video
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

2 / 41

Outline

Robotics history

Applications

Actual Work

Conclusions and future trends

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

3 / 41

Robotics history

Ancient vision
Greeks: Aristotle writes:

If every tool, when ordered, or even of its own

accord, could do the work that befits it... then
there would be no need either of apprentices for
the master workers or of slaves for the lords.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

4 / 41

The word Robot (1921)

Karel Capeks play Rossuums Universal

Robots
Robot is coined from Czech word robota
Robota means labor
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

5 / 41

Trademarks of science fiction

Robot Maria in classic SF movie

Metropolis of Fritz Lang (1926)

Dra. Am
erica Morales (CINVESTAV)

Famous R2-D2 (left) and C3PO

(right) in SF saga Star Wars of
George Lucas (1977)

Robotics in todays world

Abril 2014

6 / 41

Three laws of robotics

According to writer Isaac Asimov:

1

A robot may not harm a human being, or,

through inaction, allow a human being to come
to harm.

A robot must obey the orders given to it by

human beings except where such orders would
conflict with the First Law.

A robot must protect its own existence, as long

as such protection does not conflict with the
First or Second Law.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

7 / 41

A definition of Robot

Robot Institute of America:

Robot is a reprogrammable, multifunctional manipulator designed to
move material, parts, tools, or specialized devices through variable
programmed motions for the performance of a variety of tasks.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

8 / 41

Applications: Industrial Robots

Manufacturing

(a) Cartesian

(b) Delta

(c) Manipulator
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

9 / 41

Industrial robots
Beer industry

(a) Mexico (Piedras

Negras, Coah.)

(b) Holland

(c) Germany
Dra. Am
erica Morales (CINVESTAV)

(d) Argentina
Robotics in todays world

Abril 2014

10 / 41

Medicine

(a) Exosqueleton

(b) Scanner
Dra. Am
erica Morales (CINVESTAV)

(c) DaVinci
Robotics in todays world

Abril 2014

11 / 41

Medicine
Rehabilitation

(a) Prosthesis

(b) Rehabilitation

(c) Bionic hand

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

12 / 41

Space

(a) satellite

(b) Kirobo

(c) Curiosity

(d) Spiderfab

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

13 / 41

Household robots

(a) Roomba

(b) Luna

(c) Scooba
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

14 / 41

Entertainment robots

(a) Aibo

(b) Bioloid
Dra. Am
erica Morales (CINVESTAV)

(c) Lego mindstorms

Robotics in todays world

Abril 2014

15 / 41

Autonomous Guided Vehicles

(a) Google car

(b) Line follower

Dra. Am
erica Morales (CINVESTAV)

(c) Kiva

Robotics in todays world

Abril 2014

16 / 41

Humanoids

(a) HRP-2

(b) Nao

(c) Darwin

(d) HRP-4

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

17 / 41

Surveillance

(a) PIAP

(b) ASV

(d) Drone

Dra. Am
erica Morales (CINVESTAV)

(c) Riotbot

(e) UAV

Robotics in todays world

Abril 2014

18 / 41

Formations

(a) Pioneer

(b) UAV

(c) UAV

(d) Epucks

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

19 / 41

What we need to know?

Algebra

Differential equations

Control

Electronics
Robotics Programming

Mechanics

Phisics

Signal processing

Artificial vision
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

20 / 41

Actual work

Fig. 2 : The actual and desired coordinates of the unicycle eq. (1).

xi = vi cos(i )
yi = vi sin(i )
i = i
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

(1)

Abril 2014

21 / 41

Actual work (cont.)

xei = cosi (xri xi ) + sini (yri yi )

yei = sini (xri xi ) + cosi (yri yi )

(2)

ei = ri i
x ei = i yei vi + vri cosei
y ei = i xei + vri sinei
ei = ri i

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

(3)

Abril 2014

22 / 41

Actual work (cont.)

Fig. 3 : A formation composed of 4 vehicles with a known virtual center.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

23 / 41

all-to-all syncronization control

vi = vri cos ei + Kxi xei +

n
X

x
Cij
(xei xej )

(4)

j=1

sin ei KCyi
i = ri + Ki ei + vri
+
ei i

n
X
y
yei +
Cij
(yie yje ) ; for i 6= j

(5)

j=1

with i =

q
P
K 2 + (xei )2 + (yei )2 + nj=1 [(xei xej )2 + (yei yej )2 ]

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

24 / 41

Tracking
x (0),y (0)
1

Robot

x2(0),y2(0)
0.6

Robot2
x3(0),y3(0)
Robot3

0.4

Trajectory

yr ,y

0.2

0.2

0.4

0.6

0.4

0.2

0.2

0.4

0.6

0.8

xri,xi

Fig. 4 : Tracking evolution with control (4) and (5) for three robots swarm.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

25 / 41

Incorporation 1 robot
Cartesian trajectories
0.8

0.6

0.4

yri, yi

0.2

0.2
x (0),y (0)
1

0.4

Robot1
x (0),y (0)
2

Robot2
0.6

x3(0),y3(0)
Robot

Trajectory
0.8
0.8

0.6

0.4

0.2

xri,xi

0.2

0.4

0.6

0.8

Fig. 5 : Entrance of a new element in the formation.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

26 / 41

Incorporation multiple robots

0.8

Cartesian trajectories: multiple merging

merging of
new robots

x1(0),y1(0)
Robot1
x2(0),y2(0)
Robot

0.6

x3(0),y3(0)
Robot3
x (0),y (0)
4

0.4

Robot

x (0),y (0)
5

Robot

x6(0),y6(0)

0.2

ri

y ,y

Robot6

0.2

0.4

0.6

0.8
0.8

0.6

0.4

0.2

x ,x

0.2

0.4

0.6

0.8

i
Fig. 6 : Incorporation of several robotsri with
controller in experiments: XY

coordinates.
Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

27 / 41

Experimental Setup

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

28 / 41

Experimental Setup (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

29 / 41

Experimental Setup (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

30 / 41

Experimental Setup (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

31 / 41

Experimental Setup (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

32 / 41

Implementation

Fig. 7 : Data acquisition for our collision avoidance strategy.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

33 / 41

Inertial data adquisition

Fig. 8 : Microcontroller Arduino board with embedded IMU.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

34 / 41

Collision avoidance
Two formations in the same path, opposite directions.
Cartesian coordinates
1
0.8
0.6

yri , yi

Robot1
0.4

Robot2

0.2

Robot3
Robot4

Robot

Robot6

0.2
0.4
0.6
1

0.8

4
1
1

0.5

6
0

xri , xi

0.5

Fig. 9 : Cooperative collision avoidance betweeen two formations

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

35 / 41

Delay effect

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

36 / 41

Delay effect (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

37 / 41

Delay effect (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

38 / 41

Delay effect (cont.)

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

39 / 41

Conclusions and future trends

Group coordination in a robot group is an interesting topic that has been

receive a lot of attention the las decade.
Many applications have been done: drones, surveillance, map recognition,
exploration, in the fuel company, among others.
Future trends can be encountered in:
Automated highways (AHDA see:
https://www.youtube.com/watch?v=4pMO475heog)
Manufacturing systems (see Kiva Systems,
https://www.youtube.com/watch?v=lWsMdN7HMuA).
In the future trends we have coordination in unstructured environments for
service robot at home and also in the industry in general for un identical
robots.

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

40 / 41

Thanks!, questions???

{america.morales,hugo.gutierrez,hector.perez,flabio.mirelez}@cinvestav.edu.mx

Dra. Am
erica Morales (CINVESTAV)

Robotics in todays world

Abril 2014

41 / 41