When a robot is smart enough?

Slides from my talk at DevFest Prague 2017 about few thoughts on a topic of "When a robot is smart enough" with examples how you can build one at home from Open Hardware components.

Ideas were demonstrated on a showcase of my #Probee smart robotic car build using #Arduino and #RaspberryPi.

All code is open source at https://github.com/Juicymo/iot-probee

Link to event: https://2017.devfest.cz/schedule/day1?sessionId=123

Talk was presented on 2017/11/04

#DevFestCZ #Probee

Transcript

1. When a Robot is smart enough? from Arduino, via RaspberryPi, to ROS Tomáš Jukin @Inza
2. Having all features needed for fulfilment of its primary function and purpose makes a Robot smart enough.
3. Tomáš Jukin @Inza www.juicymo.cz @JuicymoCZ
4. Tomáš Jukin @Inza www.juicymo.cz @JuicymoCZ CTO IoT AI Robotics
5. github.com/Juicymo/iot-probee @Inza @JuicymoCZ
6. #Probee Robot
7. #Probee v2.0
8. #Probee v3.0 Ruby PlatformIO { {
11. #ProbeeEvolution
12. #ProbeeEvolution
13. #ProbeeEvolution
14. #ProbeeEvolution
15. GDG ohwHack 2014 mDevCamp 2016 #ProbeeEvolution DevFest Prague 2017 v0 v1 v2 v3
16. GDG ohwHack 2014 mDevCamp 2016 #ProbeeEvolution DevFest Prague 2017 ? v0 v1 v2 v3
17. Robotics 101
18. Robotics 101 Micro-Computer vs. Micro-Controller
19. Robotics 101 Micro-Computer vs. Micro-Controller
20. Robotics 101 Micro-Computer vs. Micro-Controller
21. Robotics 101 Micro-Computer vs. Micro-Controller Voltage: 3.3V Flash: SD card RAM: 512 MB (CPU & GPU) CPU: ARM11 (BCM2835 SoC) Clock: 700 MHz GPIO: 40 pin HDMI, Ethernet RaspberryPi 1 B+ Arduino UNO Voltage: 5V Flash: 32KB (-0.5 bootloader) SRAM: 2KB EEPROM: 1KB Clock: 16 MHz Digital I/O: 14/6 PWM Analog In: 6
22. Robotics 101 ways of communication
23. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication
24. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices SPI
25. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m SPI UART
26. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m Full Serial Line, 9 wires, 2 devices, <20m RS-232 (COM port) SPI UART
27. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m Full Serial Line, 9 wires, 2 devices, <20m RS-232 (COM port) Industry, 2 wires, <32 devices, <1200m RS-485 (EIA-485) SPI UART
28. Robotics 101 IIC (i2c, I2C, I2C) Inter-Inter Circuit, 2 wires, <128 devices, <2m ways of communication Serial Peripheral Interface, N+3 wires, N devices SPI UART Industry, 2 wires, <32 devices, <1200m RS-485 (EIA-485) Universal Asynchronous Receiver/Transmitter, 2 wires, 2 devices, <20m Full Serial Line, 9 wires, 2 devices, <20m RS-232 (COM port)
29. The Hardware
30. What does a 4 wheels self driving robotic car consist of?
49. 1x RaspberryPi 1 B+ Starter Set https://goo.gl/jaTY70 1x Chinese 4WD Car Kit with Funduino UNO http://goo.gl/qetuW5 5x Ultrasonic Sensor HC-SR04 http://goo.gl/YojTTp 1x Wi-Fi dongle D-Link DWA-127 https://goo.gl/9d9BPo 1x Arduino Micro https://goo.gl/yjVqgC 1x I2C Level Converter http://goo.gl/9i4jCK 1x RTC module DS1307 http://goo.gl/esKm7t 1x PIR sensor HC-SR501 http://goo.gl/LyYGmb 1x 4D Touch TFT Display 4DPi-35 Rev. 1 http://goo.gl/RWs7rI 1x Skewers 1x Hot Glue *plus PiCamera and PowerBank to power Pi… (and cables)
50. http://goo.gl/tnXteh
51. The Idea
55. UART USB
56. I2C
57. UART USB
58. PWM UART USB
59. PWM 12V UART USB
60. USB PWM 12V UART USB
61. SPI USB PWM 12V UART USB
62. SPI USB PWM PWM 12V UART USB
63. SPI USB PWM PWM 12V UART USB
64. SPI USB PWM PWM 12V UART USB
65. SPI USB I2C PWM PWM 12V UART USB
66. SPI USB I2C PWM PWM 12V UART USB
67. SPI USB I2C PWM PWM 12V UART USB
68. SPI USB I2C PWM PWM 12V I2C PWM UART USB
69. SPI USB I2C PWM PWM 12V PWM UART USB
70. The Power ???
71. The Power ??? UART 5V 5V USB
72. The Power ??? I2C 5V 3.3V
73. The Power ??? UART 5V 5V USB
74. The Power ??? 5V 7V UART 5V 5V USB
75. The Power ??? 5V USB 7V 3.5V 3.5V 7V + = UART 5V 5V USB
76. The Heart
77. The Heart
78. How do we develop in Arduino?
79. Wiring / Processing
80. C / C++
81. C / C++
82. C / C++
83. 5 Circles of Hell
84. 5 Circles of Hell in Arduino
85. 5 Circles of Hell in Arduino .ino includes
86. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h
87. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods
88. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods HW bugs
89. 5 Circles of Hell in Arduino .ino includes LCD_i2c.h Crappy China goods HW bugs The need of switch
90. The Heart
91. v0 - Procedural (by MacGyver on ohwHack) The Heart
92. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…)
93. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…) v1 - “Spagetti MAS” (in Git repo)
94. v0 - Procedural (by MacGyver on ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…) v1 - “Spagetti MAS” (in Git repo) v2 - “The Platform” (in Git repo, in progress)
95. v0 - Procedural (by MacGyver on #ohwHack) The Heart v0.5 - “Spagetka” (was to ugly to Git -> lost :-(…) v1 - “Spagetti MAS” (in Git repo) v2 - “The Platform” (in Git repo, structure) https://github.com/Juicymo/iot-probee v3 - “The Platform” (in Git repo, done)
101. http://goo.gl/lZuAzn
104. https://goo.gl/OhNByp I2C
105. https://goo.gl/QzYRjs https://goo.gl/lG0ggl I2C
106. UART
107. The Heart Hardware
108. The Heart Hardware HAL
109. The Heart Hardware HAL FSM
110. The Heart Hardware HAL FSM Pre-Emptive Multi-Tasking
111. The Heart Hardware HAL FSM Pre-Emptive Multi-Tasking Config
112. idle reasoning 5000ms forward fast_forward slow_forward brake stop 10000ms 10000ms 100ms slow_backward backward 1000ms 1000ms turn_left turn_right 2000ms 2000ms The FSM
113. The FSM idle reasoning FORWARD_OBSTACLE_CLOSE FORWARD_OBSTACLE_BLOCKED BACKWARD_OBSTACLE_CLOSE BACKWARD_OBSTACLE_BLOCKED 5000ms forward fast_forward FORWARD_OBSTACLE_NONE slow_forward FORWARD_OBSTACLE_CLOSE brake FORWARD_OBSTACLE_BLOCKED TURRET_OBSTACLE_BLOCKED stop 10000ms FORWARD_OBSTACLE_FAR FORWARD_OBSTACLE_NEAR FORWARD_OBSTACLE_CLOSE FORWARD_OBSTACLE_BLOCKED TURRET_OBSTACLE_BLOCKED 10000ms FORWARD_OBSTACLE_NONE FORWARD_OBSTACLE_FAR FORWARD_OBSTACLE_NEAR FORWARD_OBSTACLE_BLOCKED TURRET_OBSTACLE_BLOCKED 100ms slow_backward backward FORWARD_OBSTACLE_NONE BACKWARD_OBSTACLE_FAR BACKWARD_OBSTACLE_NEAR BACKWARD_OBSTACLE_BLOCKED 1000ms BACKWARD_OBSTACLE_BLOCKED BACKWARD_OBSTACLE_CLOSE 1000ms REASONING_STOPPED REASONING_MOVE_FORWARD REASONING_MOVE_SLOW_FORWARD REASONING_MOVE_SLOW_BACKWARD REASONING_MOVE_BACKWARD turn_left REASONING_TURN_LEFT turn_right REASONING_TURN_RIGHT TURRET_OBSTACLE_PRESENT TURRET_OBSTACLE_BLOCKED 2000ms TURRET_OBSTACLE_PRESENT TURRET_OBSTACLE_BLOCKED 2000ms
117. Artificial Intelligence 101
118. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN
119. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN
120. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN spaghetti?? Hierarchical Task Networks Hierarchical Finite State Machine Lets be just good enough!
121. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN ?
122. HFSM Movement FSM Stop Drive Slowly Drive Fast
123. HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target
124. HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target How to combine them??
125. HFSM Movement FSM Stop Drive Slowly Drive Fast Turn Turret FSM Stop Scan Target How to combine them?? Modularity sucks too…
126. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN ?
127. How to make AI Logic Scripting HFSM Heuristics MAS GA ANN HTN Behavior Trees
129. Behavior Trees http://aigamedev.com/open/article/bt-overview/ http://behavior3js.guineashots.com/ http://aigamedev.com/open/article/behavior-trees-part1/
130. Neural Nets HFSM MAS HTN Behavior Trees https://github.com/Inza/agens https://en.wikipedia.org/wiki/Multi-agent_system https://github.com/aasm/aasm https://en.wikipedia.org/wiki/Finite-state_machine https://github.com/Maumagnaguagno/HyperTensioN https://en.wikipedia.org/wiki/Hierarchical_task_network https://github.com/jvoegele/behavior_tree https://en.wikipedia.org/wiki/Behavior_tree https://github.com/SergioFierens/ai4r https://en.wikipedia.org/wiki/Artificial_neural_network
131. The Brain
132. The Brain
133. How do we develop for RaspberryPi?
134. In Ruby
135. But not only. It is a full featured* Linux.
136. But not only. It is a full featured* Linux. *running on ARM… :-(
137. 5 Circles of Hell
138. 5 Circles of Hell in RaspberryPi
139. 5 Circles of Hell in RaspberryPi USB driven computer
140. 5 Circles of Hell in RaspberryPi USB driven computer Unstable
141. 5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness
142. 5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness Wi-Fi dongle
143. 5 Circles of Hell in RaspberryPi USB driven computer Unstable More features madness Unstable!!! Wi-Fi dongle
144. Multi-Agent System The Brain build on a Actor-based concurrent object framework in Ruby https://github.com/Juicymo/iot-probee
145. The Brain Raspbian
146. The Brain Raspbian rvm
147. The Brain Raspbian rvm ruby
148. The Brain Raspbian rvm ruby celluloid
149. The Brain Raspbian rvm ruby celluloid agens
150. The Brain Raspbian rvm ruby celluloid agens probee MAS
151. The Brain Raspbian rvm ruby celluloid agens probee MAS github.com/Juicymo/iot-probee https://rubygems.org/gems/agens https://github.com/celluloid/celluloid https://rvm.io
152. The Brain Object Ruby OOP Probee MAS
153. The Brain Object Cell Ruby OOP Celluloid Probee MAS
154. The Brain Object Cell Actor Ruby OOP Celluloid Celluloid Probee MAS
155. The Brain Object Cell Actor Agent Ruby OOP Celluloid Celluloid agens Probee MAS
156. The Brain Object Cell Actor Agent MovementAgent Ruby OOP Celluloid Celluloid agens probee Probee MAS
157. The Brain MovementAgent Probee MAS
158. The Brain Motors MovementAgent Probee MAS
159. The Brain Motors SteeringAgent MovementAgent Probee MAS
160. The Brain Motors Sensors SteeringAgent MovementAgent Probee MAS
161. The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS
162. The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS
163. The Brain Motors Sensors CollisionAgent SteeringAgent MovementAgent Probee MAS Simple Agents can perform complex tasks
164. The Brain
165. The Brain
166. http://www.ros.org/ SLAM Communication Visualization Analysis
167. Questions?
168. Tomáš Jukin @Inza www.juicymo.cz @JuicymoCZ
169. github.com/Juicymo/iot-probee @Inza @JuicymoCZ