Transcript Jan 16 - Kutztown University

Introduction to Special Topics
Intelligent Robotics
CIS480
January 16, 2007
Basic Definitions

Artificial Intelligence
 Study intelligence
 Apply – design intelligent systems
 to better serve mankind
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Basic Definitions

Robot
 Embodied
 Autonomous
 Agent

Intelligent robot
 + Intelligent
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Embodied

Situated
 Located in the world

Sensor (receptor)
 Receive “raw” information about world

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”
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Autonomous
Autos :: self
 Nomos :: law
 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
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Agent

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)
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Delegacy – discretionary authority
Competence
Amenability – ability to adapt
Software resident
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Intelligence




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.”
Einstein: “Imagination is more important than
knowledge.”
Henk Tuten: “complex use of creativity”
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Intelligence
Another view
 Creative simplicity
 Examples

Every mileage divisible by 3000
Cutting the Gordian knot
Efficient use of cars
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Robot “Primitives” – Murphy
 Sense
 Plan
 Act
 Perhaps
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a 4th – Learn
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Origin of Robot Basics
 Act
 Autonomous  Sense
 Serve
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Origin of Robot Basics
 The
most basic ::
 Act
 Sense
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Origin of Robot Basics
 Act
 Autonomous  Sense
 Changing environment  Plan
 Plan  Reason
 Plan  Represent knowledge
 Knowledge  Learning
 Serve
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Robot Basics
 Sense
 Act
 Represent
knowledge
 Reason
 Learn
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Central Issues of A.I.
Knowledge
representation &
reasoning
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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?
1.3.1 Social implications of robotics
1.4 A Brief History of Robotics
1.4.1 Industrial manipulators
1.4.2 Space robotics and the AI approach
1.5 Teleoperation
1.5.1 Telepresence
1.5.2 Semi-autonomous control
1.6 The Seven Areas of AI
1.7 Summary
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Paradigm

Linguistics
 A pattern of conjugation or declension to memorize
which serves as a template for a class of words.

Thomas Kuhn




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Shared scientific theories
Common methods of solving problems
Common norms for scientific activity
Shared metaphysics
Current usage
 Example, pattern
 Conjugation, declension
 Theoretical framework
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Paradigm – current usage
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

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The Structure of Scientific
Revolutions
Stanford Encyclopedia of Philosophy ::
“one of the most cited academic books of all
time”
 Development of “science”

 Not
» Steady cumulative progress
» Ever closer approximation to “truth”
 Normal phase
 Revolutionary (extraordinary) phase
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Phases of Science

Normal
 Ruling paradigm  High degree of conceptual
uniformity
 Steady progress in:
» Accretion of knowledge
» Solving existing “puzzles”


Pre-revolutionary :: mounting set of anomalies
Revolutionary :: paradigm shift
 Alternative paradigm(s) proposed
 Period of competition
 Resolution – old paradigm dies out
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Norwood Russell Hanson
Observation is theory-laden
 Observation language and theory language
deeply interwoven
 Historical & contemporary comprehension
deeply interwoven
 Sought logic of discovery
 Note :: key issues for robotics

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Patterns of Discovery
Norwood Russell Hanson
 Perception is theory-laden

 Rock or clump of algae?
 Optical illusions
 Duck or rabbit?
 Wiki article
 Triangle puzzle

Ệ theoretical incommensurability
 Hanson
 Kuhn
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Theory-laden-ness
Gestalt shift
 From sensor data to percept
 Role of theory

 Pre-process sensor data
 Organize percepts
 Basis of discovery plans

Reasoning
 Deduction (includes mathematical induction)
 Induction
 Abduction
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Theory-laden-ness Examples

Recognition
 Embodied
 Autonomous
 Agent

Critical nature of perceptology
 Shadow vs. cliff
 Rock vs. algae
 The Measures Taken, Brecht
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Logos-telos-teleios Triad
Design
 Basic components
 Teleology
 Component interaction
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Logos-telos-teleios Triad
Design – the oft missing component in
software
 Basic components

 Logos – logic, internal structure, organizing
principle
 Telos – goal, purpose, objective, aim, function,
intention, reason
 Teleios – complete, finished, mature, perfected
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Teleology
 The
philosophical study of purpose
 The triad’s central relational kernel
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Component Interaction


Reference
Logos
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Mind, understanding
Comprehend need
Generate purpose
Create design
Determine level of achievement
Telos
 Provides focus
 Provides measure of efficacy of design

Teleios
 Circumscribes design
 Measures artifact utility
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Knowledge Representation for
Intelligent Agents
Fall ’06 ppt
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