Introduction to Special Topics Intelligent Robotics CIS480 January 16, 2007

2007Kutztown University2 Basic Definitions Artificial Intelligence Artificial Intelligence  Study intelligence  Apply – design intelligent systems  to better serve mankind

2007Kutztown University3 Basic Definitions Robot Robot  Embodied  Autonomous  Agent Intelligent robot Intelligent robot  + Intelligent

2007Kutztown University4 Embodied Situated Situated  Located in the world Sensor (receptor) Sensor (receptor)  Receive “raw” information about world Effector (actuator) Effector (actuator)  Accomplish an action » with respect to self » with respect to world  “one who brings about a result or event; one who accomplishes a purpose”

2007Kutztown University5 Autonomous Autos :: self Autos :: self Nomos :: law Nomos :: law Definition Definition  Self-governing » Note: The term cybernetics stems from the Greek Κυβερνήτης (kybernetes, steersman, governor, pilot, or rudder — the same root as government).  Independent in mind or judgment  Self-directing  Not controlled by others or outside forces

2007Kutztown University6 Agent Definition Definition  One that acts or has power/authority to act  One that represents another  Root meaning – one that acts or exerts power  Means of effecting a result Software agent (David Croft) Software agent (David Croft)David CroftDavid Croft  Delegacy – discretionary authority  Competence  Amenability – ability to adapt  Software resident

2007Kutztown University7 Intelligence Many definitions Many definitions MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks... Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning.” MSN Encarta: “general mental capability to reason, solve problems, think abstractly, learn and understand new material, and profit from past experience. Intelligence can be measured by many different kinds of tasks... Intelligence draws on a variety of mental processes, including memory, learning, perception, decision-making, thinking, and reasoning.” MSN Encarta MSN Encarta Einstein: “Imagination is more important than knowledge.” Einstein: “Imagination is more important than knowledge.” Henk Tuten: “complex use of creativity” Henk Tuten: “complex use of creativity”

2007Kutztown University8 Intelligence Another view Another view Creative simplicity Creative simplicity Examples Examples  Every mileage divisible by 3000  Cutting the Gordian knot  Efficient use of cars

2007Kutztown University9 Robot “Primitives” – Murphy Sense Sense Plan Plan Act Act Perhaps a 4 th – Learn Perhaps a 4 th – Learn

2007Kutztown University10 Origin of Robot Basics Serve  Act Serve  Act Autonomous  Sense Autonomous  Sense

2007Kutztown University11 Origin of Robot Basics The most basic :: The most basic ::  Act  Sense

2007Kutztown University12 Origin of Robot Basics Serve  Act Serve  Act Autonomous  Sense Autonomous  Sense Changing environment  Plan Changing environment  Plan Plan  Reason Plan  Reason Plan  Represent knowledge Plan  Represent knowledge Knowledge  Learning Knowledge  Learning

2007Kutztown University13 Robot Basics Sense Sense Act Act Represent knowledge Represent knowledge Reason Reason Learn Learn

2007Kutztown University14 Central Issues of A.I. Knowledge representation & reasoning Knowledge representation & reasoning

2007Kutztown University15 Chapter One I. Robotic Paradigms 1. From Teleoperation to Autonomy 1.1 Overview 1.2 How Can a Machine Be Intelligent? 1.3 What Can Robots Be Used For? Social implications of robotics 1.4 A Brief History of Robotics Industrial manipulators Space robotics and the AI approach 1.5 Teleoperation Telepresence Semi-autonomous control 1.6 The Seven Areas of AI 1.7 Summary

2007Kutztown University16 Paradigm Linguistics Linguistics  A pattern of conjugation or declension to memorize which serves as a template for a class of words. Thomas Kuhn Thomas Kuhn  Shared scientific theories  Common methods of solving problems  Common norms for scientific activity  Shared metaphysics Current usage Current usage  Example, pattern  Conjugation, declension  Theoretical framework

2007Kutztown University17 Paradigm – current usage Merriam-Webster: Merriam-Webster: Merriam-Webster: Main Entry: par·a·digm Pronunciation: 'per-&-"dIm, 'pa-r&- also -"dim Function: noun Etymology: Late Latin paradigma, from Greek paradeigma, from paradeiknynai to show side by side, from para- + deiknynai to show -- more at DICTION 1 : EXAMPLE, PATTERN; especially : an outstandingly clear or typical example or archetype 2 : an example of a conjugation or declension showing a word in all its inflectional forms 3 : a philosophical and theoretical framework of a scientific school or discipline within which theories, laws, and generalizations and the experiments performed in support of them are formulated; broadly : a philosophical or theoretical framework of any kind DICTIONEXAMPLEPATTERNDICTIONEXAMPLEPATTERN

2007Kutztown University18 The Structure of Scientific Revolutions Stanford Encyclopedia of Philosophy :: Stanford Encyclopedia of Philosophy :: Stanford Encyclopedia of Philosophy Stanford Encyclopedia of Philosophy “one of the most cited academic books of all time” Development of “science” Development of “science”  Not » Steady cumulative progress » Ever closer approximation to “truth”  Normal phase  Revolutionary (extraordinary) phase

2007Kutztown University19 Phases of Science Normal Normal  Ruling paradigm  High degree of conceptual uniformity  Steady progress in: » Accretion of knowledge » Solving existing “puzzles” Pre-revolutionary :: mounting set of anomalies Pre-revolutionary :: mounting set of anomalies Revolutionary :: paradigm shift Revolutionary :: paradigm shift  Alternative paradigm(s) proposed  Period of competition  Resolution – old paradigm dies out

2007Kutztown University20 Norwood Russell Hanson Observation is theory-laden Observation is theory-laden Observation language and theory language deeply interwoven Observation language and theory language deeply interwoven Historical & contemporary comprehension deeply interwoven Historical & contemporary comprehension deeply interwoven Sought logic of discovery Sought logic of discovery Note :: key issues for robotics Note :: key issues for robotics

2007Kutztown University21 Patterns of Discovery Norwood Russell Hanson Norwood Russell Hanson Perception is theory-laden Perception is theory-laden  Rock or clump of algae?  Optical illusions  Duck or rabbit? Duck or rabbitDuck or rabbit  Wiki article Wiki articleWiki article  Triangle puzzle Triangle puzzleTriangle puzzle Ệ theoretical incommensurability Ệ theoretical incommensurability  Hanson  Kuhn

2007Kutztown University22 Theory-laden-ness Gestalt shift Gestalt shift From sensor data to percept From sensor data to percept Role of theory Role of theory  Pre-process sensor data  Organize percepts  Basis of discovery plans Reasoning Reasoning  Deduction (includes mathematical induction)  Induction  Abduction

2007Kutztown University23 Theory-laden-ness Examples Recognition Recognition  Embodied  Autonomous  Agent Critical nature of perceptology Critical nature of perceptology  Shadow vs. cliff  Rock vs. algae  The Measures Taken, Brecht

2007Kutztown University24 Logos-telos-teleios Triad Design Design Basic components Basic components Teleology Teleology Component interaction Component interaction

2007Kutztown University25 Logos-telos-teleios Triad Design – the oft missing component in software Design – the oft missing component in software Basic components Basic components Basic components Basic components  Logos – logic, internal structure, organizing principle  Telos – goal, purpose, objective, aim, function, intention, reason  Teleios – complete, finished, mature, perfected

2007Kutztown University26 Teleology The philosophical study of purpose The philosophical study of purpose The triad’s central relational kernel The triad’s central relational kernel

2007Kutztown University27 Component Interaction Reference Reference Reference Logos Logos  Mind, understanding  Comprehend need  Generate purpose  Create design  Determine level of achievement Telos Telos  Provides focus  Provides measure of efficacy of design Teleios Teleios  Circumscribes design  Measures artifact utility

2007Kutztown University28 Knowledge Representation for Intelligent Agents Fall ’06 ppt Fall ’06 ppt