1 - Introduction Flashcards
What is a robot for?
Help/replace humans in monotonous, boring, repetitive, dangerous, difficult tasks
What are robots the intelligent connection of?
Perception and action
What is the main challenge of mobility within robots?
Navigation
What does mobility open possibilities for?
Transportation, surveillance, cleaning
What are 3 parts of autonomy in robots?
Reasoning, making decisions, planning
What are the 5 parts to the anatomy of robots?
Body, Actuators, Sensors, Processing Unit, Software Commands
What are manipulators?
Big arms, precise strong fast, operate in controlled environments, limited sensory abilities
Name some applications of robots?
Exploration, Surveillance, Security, Care Assistants, Agricultural Robots, Intelligent vehicles
Name some effectors?
Hand, arm, gripper, wheels, legs, tracks, rotors
Name some actuators?
Electric motors, pneumatic systems, hydraulic systems
What are the two types of sensor?
Proprioceptive and Exteroceptive
What are proprioceptive sensors?
Sense the internal state of the robot, self-awareness
What are exteroceptive sensors?
Sense the state of the environment
Name some examples of proprioceptive sensor?
Odometry, battery level, temperature
Name some examples of exteroceptive sensor?
Light intensity, distance measurements
What is the difference between passive and active sensors
Passive sensors measure the phenomena directly whereas active sensors emit something and measure the reflection
What is dead reckoning?
Dead reckoning. Position based on the previous known position
What is an odometry sensor?
Measures the speed of each wheel and then uses wheel geometry to calculate the velocity of a robot
What are the two types of wheel speed estimation?
Nominal motor speed + gear ratio AND motor encoder
What is a motor encoder?
Where a sensor is mounted on the wheel shaft that counts motor revolutions
What are the limitations of odometry?
Wheel slippage, uneven friction and uneven wheel size
How do passive light sensors work?
By measuring light intensity directly
What can light be used for in navigation?
To mark importance places, i.e recharging stations and exits from rooms
What is IR an example of?
An active light sensor
What are time of flight sensors?
Active distance measurements that use reflected signal
What is the formula for time of flight sensors?
d = (v*t) / 2
What is a sonar sensor?
Uses ultrasonic signal where V is the speed of sound
What are the disadvantages of sonar sensors?
Processing is slow and noisy
What are the advantages of using sonar sensors?
Cheap and good for obstacle avoidance
What are laser sensors?
Time of flight sensor using a pulsed laser and a rotating mirror
What are the advantages of laser sensors?
High precision, long range, wide field of view and fast
Name 4 types of vision sensor
Colour, thermal, omni-directional, stereo
What do you need when emulating a laser scanner and merging readings?
Calibration of the two sensors (where one is in relation to the other)
Name 7 other types of sensor?
Tactile, direction and orientation, global position, motion, temperate, sound, smell
What is the hierarchy of sensor processing requirement?
Bump Sensors -> Odometry -> Sonar -> Speech -> Vision
Discuss perception in sensors?
Sensors often do not provide direct measurements nor provide exact values
Some sensors may provide rich information that needs to be reduced
Some sensors provide sparse information that needs to be interpolated
What are the 3 aspects that depend upon and influence each other?
Robot, Task, Environment
