Jan 16 - Kutztown University
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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)
2007
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
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
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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