Section 7 EO C440.05 – DESCRIBE ROBOTICS

A robot is defined as a machine that looks and functions like a human being. A robot is also defined as a machine that is capable of carrying out a complex series of tasks automatically. Some organizations provide special definitions of a robot, such as those found at NASA's ROVer Ranch website, which include:

NASA's ROVer Ranch is a place to learn about robotic engineering at http://prime.jsc.nasa.gov/ROV/

Autonomous systems are the physical embodiment of machine intelligence. This means that an autonomous system combines artificial intelligence (AI) with the manipulating abilities of remote-controlled systems.

The earliest robots, such as the armoured robot knight created by Leonardo da Vinci in 1495, did not think for themselves. Representing the technology of 1495, Leonardo da Vinci's robot consisted of two independent systems:

Examples of Degrees of Freedom (DOF) are: • tilting forward and backward (pitching); • turning left and right (yawing); • tilting side to side (rolling); • moving up and down (heaving); • moving left and right (swaying); and • moving forward and backward (surging).

Show the cadets the slide of Figures A-1 and A-2 located at Attachment A.

The orientation of the arms on Leonardo's robot indicates that it was designed for whole-arm grasping, which means that all the joints moved in unison. A mechanical, analog-programmable controller within the chest provided power and control for the arms.

Note. From "Z-Kat the Digital Surgery Company", by R. Abovitz, 2001, Leonardo's Robot, Copyright 2008 by R. Abovitz. Retrieved November 18, 2008, from http://www.z-kat.com/company/adv_research/leonardo.shtml

Figure 1  Leonardo's Mechanical Analog-Programmable Controller

The legs were powered by an external crank arrangement driving the cable, which was connected to key locations in the ankle, knee, and hip. This armoured robot knight was designed to sit up, wave its arms, and move its head via a flexible neck while opening and closing its anatomically correct jaw. It may have made sounds to the accompaniment of automated drums. On the outside, the robot is dressed in a typical German-Italian suit of armour of the late fifteenth century.

Modern robots such as the Canadarm and the Canadarm2 combine the two modes of remote control and autonomy.

Canadarm: Shuttle Remote Manipulator System (SRMS)

The space shuttle's general-purpose computer (GPC) controls the movement of the SRMS. The astronauts use a hand controller, which tells the computer what the astronaut would like the arm to do. Built-in software then studies the astronaut's commands and calculates which joints should move, what direction to move them in, how fast to move them and at what angle to move.

Show the cadets the slide of Figure A-3 located at Attachment A.

Figure A-3 is a scale drawing of the Canadarm.

While the computer is issuing commands to each of the joints, it monitors each joint every 80 milliseconds. Any movements of the astronaut's hand are re-examined and recalculated by the GPC and updated commands are then sent out to each of the joints.

Should a failure occur, the GPC automatically applies the brakes to all joints and notifies the astronaut of a failure condition. The control system also provides a continuous display of joint rates and speeds, which are displayed on monitors located on the flight deck of the shuttle. As with any control system, the GPC can be overridden and the astronaut can operate the joints individually from the flight deck.

Robots are especially desirable for certain work functions because, unlike humans, they:

Early industrial robots that handled radioactive material in atomic labs were called master / slave manipulators. They were connected with mechanical linkages and steel cables. Remote arm manipulators can now be moved by push buttons, switches or joysticks.

Robots sometimes have advanced sensory systems that process information and appear to function as if they have brains. Their "brain" is actually a form of computerized AI, which allows a robot to perceive conditions and decide on a course of action based on these conditions.

A robot may include any of the following components:

Characteristics that make autonomous robots different from regular machinery are that they usually function by themselves, are sensitive to their environment, adapt to variations in the environment or to errors in prior performance, are task-oriented and often have the ability to try different methods to accomplish a task.

Typical industrial robots do jobs that are difficult, dangerous or dull. They lift heavy objects, paint, handle chemicals, and perform assembly work. They perform the same job hour after hour, day after day with precision. They do not get tired and they do not make errors associated with fatigue and are ideally suited to performing repetitive tasks.

The major categories of industrial robots, differentiated by mechanical structure are:

Show the cadets the slide of Figures B-1 and B-2 located at Attachment B.

Show the cadets the slide of Figure B-3 located at Attachment B.

Show the cadets the slide of Figure B-4 located at Attachment B.

Show the cadets the slide of Figure B-5 located at Attachment B.

Show the cadets the slide of Figure B-6 located at Attachment B.

Show the cadets the slide of Figures B-7 and B-8 located at Attachment B.

Computer Numerical Control (CNC) refers to a computer controller that reads computer code instructions and drives a machine tool—a powered mechanical device typically used to fabricate components by the selective removal of material from a larger block of material. The operating parameters of the CNC are altered by changing the software, making CNC machines a type of robot.

The most common methods of cutting used by robots are plasma cutting and oxyfuel cutting.

Plasma cutting is a process that uses a high velocity jet of ionized gas delivered from a constricting orifice. Plasma cutting takes place when a high-velocity stream of gas (plasma) is forced through a narrow torch. Plasma cutting can be performed on any type of conductive metal—mild steel, aluminum and stainless steel are some examples.

Oxyfuel cutting is a process that cuts by burning, or oxidizing, the metal it is severing. It is therefore limited to steel and other ferrous metals that support the oxidizing process.

Assembly robots have expanded production capabilities in the manufacturing world, making the assembly process faster, more efficient and more precise than ever before. Robots have saved workers from tedious and dull assembly line jobs, and increased production and savings in the process. One class of assembly robot is the Selective Compliant Articulated Robot for Assembly (SCARA) Robot.

Show the cadets the slide of Figure B-5 located at Attachment B.

The work characteristics of robots give them several advantages for industrial assembly, including:

There are two popular types of industrial welding robots; Articulating and Cartesian.

Underwater Exploration

Show the cadets the slide of Figure C-1 located at Attachment C.

A seaglider is an Autonomous Underwater Vehicle (AUV) that measures temperature, salinity, depth-averaged current and other quantities in the ocean. A seaglider uses satellite data telemetry to receive commands and send the measurements it collects in near-real time. A seaglider AUV collects ocean physical properties across a range of depths and areas for oceanographers and military planners.

Deep Space 1 (DS1)

Launched in October 1998, Deep Space 1 (DS1) was the first mission of NASA's new millennium program, chartered to validate new technologies important for future space and earth science programs. The advanced technology payload that was tested on DS1 included a solar-powered Ion Propulsion System (IPS), solar concentrator arrays, an autonomous on-board optical navigation system and an autonomous artificial intelligence (AI) system known as Remote Agent.

Show the cadets the slide of Figure C-2 located at Attachment C.

Figure C-2 shows DS1 trajectory: The dotted portion of the trajectory shows where the DS1 was coasting (ballistic flight) and the solid portion indicates where the IPS thrust was turned on, accelerating the spacecraft.

The autonomous optical navigation system on board DS1 used images of asteroids and stars collected by the onboard camera system, while the onboard navigator system computed and corrected the spacecraft's course.

The autonomous operations system was composed of an AI "agent" that planned, made decisions, and operated by itself.

Space-based robotic technology falls within the following three broad mission areas:

Important robotic devices proven in space include:

An ROV can be an unmanned spacecraft that remains in flight, a lander that lands on a body such as a moon, asteroid or planet and operates from a stationary position, or a rover that can move over terrain once it has landed. One of the best known ROV's is the Sojourner rover that was deployed by the Mars Pathfinder spacecraft.

Show the cadets the slide of Figure C-3 located at Attachment C.

Robots can resolve high-risk scenarios safely, including bomb disposal, hostage situations, search and rescue and other dangerous incidents. Robots can detect explosive vapors and particulates emanating from munitions and Improvised Explosive Devices (IEDs) while keeping the operator and civilians out of harm’s way. They can drive to and reach through windows, under vehicles and around obstructing objects and place ultra-sensitive explosive detectors close to suspicious packages and other potentially dangerous items.

Robots can carry heavy payloads, travel over rough terrain and climb stairs while maintaining full mobility. When equipped with appropriate equipment, they can support a variety of critical missions, including:

Sniper Detection

Show the cadets the slide of Figure C-4 located at Attachment C.

By providing superior situational awareness, a robot can support safer ground troop movement. It can find the point of hostile gunfire without exposing ground troops, allowing them to move more safely.