CS 378: Autonomous Intelligent Robotics (FRI) Dr. Todd Hester Are - - PowerPoint PPT Presentation

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CS 378: Autonomous Intelligent Robotics (FRI) Dr. Todd Hester Are - - PowerPoint PPT Presentation

Aug 18, 2023 332 likes •517 views

CS 378: Autonomous Intelligent Robotics (FRI) Dr. Todd Hester Are there any questions? Questions about Hokoyu Laser Scanner: Resolution/Accuracy? Distance 20 mm ~ 1000 mm : 30 mm Distance 20 mm ~ 4000 mm : 3 % of

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CS 378: Autonomous Intelligent Robotics (FRI)

  • Dr. Todd Hester
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SLIDE 2

Are there any questions?

  • Questions about Hokoyu Laser Scanner:

○ Resolution/Accuracy? ■ Distance 20 mm ~ 1000 mm : ±30 mm ■ Distance 20 mm ~ 4000 mm : ±3 % of measurement ■ 0.36° ○ Scan Frequency? ■ 10 Hz ○ Laser Wavelength ■ 785 nm, Class 1 (Infrared 700nm - 1mm)

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Logistics

  • Anyone still not signed up for wiki?
  • Everyone signed up for piazza?
  • Issues with the first reading / finding a paper?
  • Assignments for Thursday

○ Sign up for github

  • Assignments for next week

○ ROS readings for Monday night ○ Add a paper by Tuesday class time ○ Programming Assignment 1 due Thursday 1/31

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SLIDE 4

No Class Thursday!!

  • Talk at 1 pm, ACES 2.402

○ Dr. Xiaofeng Ren ○ RGB-D Perception: Solving Real-World Computer Vision with Consumer Depth Cameras

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Programming Assignment 1

  • Will be assigned Thursday
  • Check Piazza and the website!
  • Due next Thursday 1/31
  • 1. Download existing BWI code
  • 2. Compile code
  • 3. Run simulator
  • 4. Drive robot with keyboard
  • 5. Give robot navigation goals
  • 6. Look at sensor output
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SLIDE 6

Today

  • Finish Robot Hardware Overview
  • Discuss Cobot paper
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SLIDE 7

Introductions

  • Speak loudly
  • Name, year, major
  • One other thing about yourself
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SLIDE 8

Turtlebot 2

  • Max speed: 65 cm/s
  • High resolution wheel encoders
  • Cliff sensors
  • Bump sensors
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SLIDE 9

AR Drone Copter

  • Has wifi
  • Forward and downward cameras
  • Ultrasound altimeter
  • Uses for quadcopter?
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Cameras

  • 1.3 Megapixel Camera
  • Run over ethernet
  • Max FOV: 111.3 X 83.5 degrees
  • Uses for cameras?
  • Privacy issues?
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SLIDE 11

Kiosks and Screens

  • Possible uses?
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Hardware Summary

  • Segbot

○ Segway RMP50 base ○ Kinect sensors ○ Possible cameras ○ Laser Scanner

  • TurtleBot 2
  • External Cameras
  • External Kiosks and Display Screens
  • Quadcopter
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SLIDE 13

Is this enough?

  • What can we do with this hardware?
  • What can't we do with this hardware?
  • What else would you want to have?
  • Would there be advantages to having a

humanoid robot?

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SLIDE 14

CoBot

From Paige

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SLIDE 15

CoBot

  • Issues with CoBot setup?
  • Asking human for help in unfamiliar building?
  • Good trade-off of time vs annoying human?
  • Advantages of symbiotic relationship?
  • Applications to our project?
  • Should we ask humans for help on our

project?

  • Are the CoBot tasks (lead visitor, give tour

info, get coffee) good tasks for our project?

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SLIDE 16

Assignments for next week

  • Sign up for github
  • Reading response due Monday night on wiki

○ Be sure to put your name on your post!

  • Add a new paper to the wiki by class time

Tuesday

○ Please add your name and week with the paper!

  • First assignment due next Thursday!