ROBOTICS AND APPLICATIONS

Presented by E.Deepika

Abstract engineering, electrical engineering,

A robot may be considered as a machine structural engineering, mathematics and
with built-in intelligence, called artificial computing. In some cases biology,
intelligence. A robot replaces the role of a medicine, chemistry might also be
human being to perform a particular task. involved.
Several disciplines of Science, Technology Robots can also be defined as the physical
and Engineering are involved in building a agents that perform tasks by manipulating
suitable robot for a specific application; the physical world. They are equipped
thus making the field of robotics a highly with sensors to perceive their environment
interdisciplinary area of specialization. and effectors to assert physical forces on it.
Robotics encompasses mechanical
engineering, electrical & electronics Robots exhibit three key elements:
engineering, (combination being Programmability, implying computational
Mechatronics), computers, manufacture or symbol- manipulative capabilities that a
engineering, material technology and designer can combine as desired (a robot is
several other fields of specialization. To a computer);
build intelligence into the robot, powerful Mechanical capability, enabling it to act on
computers with artificial intelligence, its environment rather than merely
artificial neural networks, fuzzy logic, function as a data processing or
genetic algorithms etc., are involved. computational device (a robot is a
The paper presents a short introduction to machine); and
the basics of robotics in the context of Flexibility in that it can operate using a
artificial intelligence. It gives an overview range of programs and manipulates and
on robotic history, including the movies transport materials in a variety of ways.
associated with the field robotics. The laws
governing the making of robots are 2. History
mentioned in this paper. Hardware and
software requirements and working of The term robot derives from the Czech
robots are explained in the paper. An word robota, meaning forced work or
overview of modern robots like mobile compulsory service, or robotnik, meaning
robots, industrial robots, service robots, serf. It was first used by the Czech
military robots, telerobot, BEAM robots, playwright Karel Capek in 1918 in a short
humanoid robots, microbot is given in the story and again in his 1921 play R. U. R.,
paper. which stood for Rossum's Universal
The paper concludes with the state-of-the- Robots. Rossum, a fictional Englishman,
art and the near future research areas in the used biological methods to invent and
field of robotics. A collection of many mass- produce "men" to serve humans.
different kinds of robots that are under use Eventually they rebelled, became the
till date are shown in this paper. dominant race, and wiped out humanity.
1. Introduction The play was soon well known in English-
A robot is a machine that contains sensors, speaking countries.
control systems, manipulators, power
supplies and software all working together The first known functioning robot was
to perform a task. Designing, building, created in the 1738 by, Jacques de
programming and testing a robot is a Vaucanson who made an android that
combination of physics, mechanical played the flute.
Once technology advanced to the point A robot may not injure humanity, or,
where people foresaw mechanical through inaction, allow humanity to come
creatures as more than toys, literary to harm.
responses to the concept of robots reflected First Law:
fears that humans would be replaced by A robot may not injure a human being, or,
their own creations. Frankenstein (1818), through inaction, allow a human being to
sometimes called the first Science fiction come to harm, unless this would violate
novel has become synonymous with this the Zeroth Law of Robotics.
theme. Second Law:
A robot must obey orders given it by
The term “Robotics” was coined by human beings, except where such orders
Russian born American scientist and writer would conflict with the Zeroth or First
Isaac Asimov. Law.
With robots a reality and intelligent robots Third Law:
a likely prospect, a better understanding of A robot must protect its own existence as
interactions between robots and human are long as such protection does not conflict
embodied in such modern films as with the Zeroth, First, or Second Law.
Spielberg’s A.I. (movie) (2001), Proyas I, An Extended Set of the Laws of Robotics
Robot (2004) and Shankers Robo (2010). The Meta-Law
A robot may not act unless its actions are
3. Robotics and A.I subject to the Laws of Robotics
Artificial intelligence is a theory. The base Law Zero
object is the agent who is the "actor". It is A robot may not injure humanity, or,
realized in software. Robots are through inaction, allow humanity to come
manufactured as hardware. The connection to harm
between those two is that the control of the Law One
robot is a software agent that reads data A robot may not injure a human being, or,
from the sensors decides what to do next through inaction, allow a human being to
and then directs the effectors to act in the come to harm, unless this would violate a
physical world. higher-order Law
Law Two
A robot must obey orders given it by
4. The Laws of Robotics
human beings, except where such orders
Given by science fiction author Isaac
would conflict with a higher-order Law
Asimov
A robot must obey orders given it by super
The 1940 Laws of Robotics
ordinate robots, except where such orders
First Law:
would conflict with a higher-order Law
A robot may not injure a human being, or,
Law Three
through inaction, allow a human being to
A robot must protect the existence of a
come to harm.
super ordinate robot as long as such
Second Law:
protection does not conflict with a higher-
A robot must obey orders given it by
order Law
human beings, except where such orders
A robot must protect its own existence as
would conflict with the First Law.
long as such protection does not conflict
Third Law:
with a higher-order Law
A robot must protect its own existence as
Law Four
long as such protection does not conflict
A robot must perform the duties for which
with the First or Second Law.
it has been programmed, except where that
Asimov's Revised Laws of Robotics
would conflict with a higher-order law
(1985)
The Procreation Law
Zeroth Law:
A robot may not take any part in the whose exact shape and location is
design or manufacture of a robot unless the unknown.
new robot's actions are subject to the Laws 5.1.2. Effectors:
of Robotics. Effectors are the means by which robots
5. Hardware and software manipulate the environment, move and
requirements change the shape of their bodies.
5.1. Robot hardware To understand the ability of a robot to
5.1.1. Sensors: interact with the physical world we will
Sensors are the perceptual interface use the abstract concept of a degree of
between robots and their environment. They freedom (DOF). We count one degree of
are two types of sensors-passive sensors freedom for each independent direction in
and active sensors. which a robot, or one of its effectors can
Passive sensors like cameras, which move. As an example let’s contemplate a
capture signals that are generated by other rigid robot like an autonomous underwater
sources in the environment. vehicle (AUV). It has six degrees of
Active sensors like sonar, radar, and laser freedom, three for its(x, y, z) location in
emit energy into the environment. This space and three for its angular orientation
energy is reflected by objects in the (also known as yaw, roll and pitch). These
environment. These reflections can then be DOFs define the kinematic state of the
used to gather the information needed. robot. This can be extended with another
Generally active sensors provide more dimension that gives the rate of change of
information than passive sensors. But they each kinematic dimension. This is called
also consume more power. This can lead to dynamic state.
a problem on mobile robots which need to Robots with non rigid bodies may have
take their energy with them in batteries. additional DOFs. For example a human
These are sensors that either wrist has three degrees of freedom – it can
• record distances to objects or move up and down, side to side and can
• generate an entire image of the also rotate. Robot joints have 1, 2, or 3
environment or degrees of freedom each. Six degrees of
• measure a property of the robot itself. freedom are required to place an object,
Many mobile robots make use of range such as a hand, at a particular point in a
finders, which measure distance to nearby particular orientation.
objects. The manipulator shown in Figure 1 has
The other extreme are long-range sensors exactly six degrees of freedom, created by
like the Global Positioning System (GPS). five revolute joints (R) and one prismatic
The second important class of sensors is joint (P). Revolute joints generate
imaging sensors. These are cameras that rotational motion while the prismatic joints
provide images of the environment that generate sliding motion.
can then be analyzed using computer If you take your arm as an example you
vision and image recognition techniques. will notice, that it has more than six
The third important class is proprioceptive degrees of freedom. If you put your hand
sensors. These inform the robot of its own on the table you still have the freedom to
state. To measure the exact configuration rotate your elbow. Manipulators which
of a robotic joint motors are often have more degrees of freedom than re-
equipped with shaft decoders that count quired to place to end effectors to a target
the revolution of motors in small location are easier to control than robots
increments. Another way of measuring the having only the minimum number of
state of the robot is to use force and torque DOFs.
sensors. These are especially needed when
the robot handles fragile objects or objects
 in voltage may produce undesirable
results.
To correct this, we use an IC called a
voltage regulator.
(Input voltage-output voltage)
*current=wasted power.
Fi
Since microcontrollers and sensors
gure 1
typically do not consume that much
current, the wasted energy isn’t that much.
To regulate the voltage of motors we use
Most manipulators and robot arms are
switching regulator.
holonomic and most mobile robots are
Batteries are never at a constant voltage. A
nonholonomic.
6V battery will be at around 7V when fully
charged, and can drop to 3-4V when
5.1.3. Movement
drained. This below image shows how a
For mobile robots a special group of
typical battery voltage changes over time.
effectors are the mechanisms the robot
uses for locomotion, including wheels,
tracks, and legs. The differential drive
consists of two independently actuated
wheels – one on each side. If both wheels
move at the same velocity, the robot
moves on a straight line. If they move in
opposite directions, the robot turns on the
spot. 2. Supply a minimum required amount of
An alternative is the synchro drive, in power:
which each wheel can move and turn The sum required power of all the robot
around its own axis. components needs to be below the amount
5.1.4. Robot power generation that the power circuit can supply.
If the power drops even for a fraction of a
The three important things the power second below that is required by the robot,
generation circuit of robot should do are: Things like the microcontroller could reset,
1. Regulate at set voltage or sensors would give bad readings, or
2. Supply a minimum required amount of motors won’t work very well.
power 3. Allow for additional features
3. Allow for additional features based on /requirements, such as short circuit,
application. negative voltages, noise:
Use fuses
Use large capacitors for preventing low
frequency voltage disturbances.
Use small capacitor (~10-100nF) for
preventing high frequency disturbances.

5.2. Robot software

The Minimum specification is a PC with a
Pentium III processor 800MHz or
equivalent, 256 Mb RAM, 200MB free
1. Regulate at set voltage: HD space. For larger models a current 'off
Microcontrollers (and especially sensors) the shelf' PC is recommended. Advanced
are sensitive to the input voltage. Change graphics performance is obtained using a
standard 3D graphics card with hardware
support for OpenGL.
The Recommended specification is a PC
with a Pentium 4 processor 2GHz or
equivalent, 1GB RAM, 500MB free HD
space, 3D Graphics card with 256MB
dedicated DDR2.
Robot Software consists of the instructions
that control a robot's actions and provide
information regarding required tasks.
When a program is written using this
software, the robot is able to execute
commands and perform tasks.
Programming robots can be a complex and A simple test program written
challenging process, and while it has in C for an RCX with a motor
become easier over the years, the lack of
cross-platform industry standards has connected to output port
affected the development of software tools number one could look like
for robots compared to other automated
control systems such as programmable this:
logic controllers (PLCs). void main ()
Programming languages like C, BASIC,
Assembler, or SBASIC can be used. The // main program
techniques are the same no matter which {
language is chosen.
When a program is running, or executing, motor(1,100);
it is said to be in runtime. A runtime error // turn motor # 1 on
is an error that happens while the program
is executing. For example, if a robot arm at 100% force
was programmed to turn left, and it turned sleep(2.0);
right, then that would be a runtime error.
Regardless which language is used, the // let the motor run
end result of robot software is to create for 2 seconds
robotic applications that help or entertain
people. ao();
Software Applications include command- // all off: turn off
and-control and tasking software.
Command-and-control software includes
all equipment
robot control GUIs (graphical user }
interface) for tele-operated robots, point-n-
click command software for autonomous Thus, motor number one will
robots, and scheduling software for mobile go at full speed for two
robots in factories. Tasking software
includes simple drag-n-drop interfaces for seconds before being turned
setting up delivery routes, security patrols off along with everything else
and visitor tours; it also includes custom
programs written to deploy specific on the RCX.
applications. General purpose robot
application software is deployed on widely 6. Working of robot
distributed robotic platforms.
 7. Safety considerations
Programming errors represent a serious
safety consideration, particularly in large
industrial robots.
The power and size of industrial robots
mean they are capable of inflicting severe
injury if programmed incorrectly or used
in an unsafe manner.
Due to the mass and high-speeds of
industrial robots, it is always unsafe for a
Block diagram of working of robot human to remain in the work area of the
robot during automatic operation.
A robot may include a feedback-driven The system can begin motion at
connection between sense and action, not unexpected times and a human will be
under direct human control. unable to react quickly enough in many
The action may take the form of electro- situations, even if prepared to do so.
magnetic motors or actuators (also called Thus, even if the software is free of
effectors) that move an arm, open and programming errors, great care must be
close grips, or propel the robot. taken to make a robot (especially industrial
The step by step control and feedback is robot) safe for human workers or human
provided by a computer program run on interaction, such as loading or unloading
either an external or embedded computer parts, clearing a part jam, or performing
or a microcontroller. maintenance.
Two basic ways of using effectors are to
move the robot around (locomotion) or to 8. Modern robots
move other object around (manipulation). 8.1. Mobile robot: Mobile robots have the
capability to move around in their
Motion is achieved by motors controlled environment and are not fixed to one
by digital circuits that incorporate a key physical location. Mobile robots are the
power semiconductor switching element focus of a great deal of current research
called a thyristor or silicon-controlled and almost every major university has one
rectifier (SCR). or more labs that focus on mobile robot
The robot turns when only one of two research. Mobile robots are also found in
parallel motors is actuated. Digital signals industry, military and security
fed to the motor control circuitry environments. They also appear as
determine which motors move at which consumer products, for entertainment or to
times. perform certain tasks like vacuum
The problem can range from very simple cleaning.
(e.g., turning left or right) to very complex Classification:
(e.g., controlling an elbow and wrist to Mobile robots may be classified by:
move an item from a conveyor belt to a The environment in which they travel:
shelf). • Land or home robots. They are
The signals can be sent by an outside most commonly wheeled, but also
element (e.g., a human operator) or by include legged robots with two or
internal circuitry that makes "decisions" more legs (humanoid, or
based upon observations of the robot's resembling animals or insects).
environment and may alter these decisions • Aerial robots are usually referred to
based upon whether the motion is as unmanned aerial vehicles
proceeding satisfactorily. (UAVs)
 • Underwater robots are usually
called autonomous underwater
vehicles (AUVs)
• Polar robots, designed to navigate
icy, crevasse filled environments
The device they use to move, mainly:
• Legged robot: human-like legs (i.e.
an android) or animal-like legs.
• Wheeled robot.
• Tracks.

8.3. Service robots

Service robots assist human beings,
typically by performing a job that is dirty,
dull, distant, dangerous or repetitive,
including household chores. They typically
are autonomous and/or operated by a build
in control system, with manual override
options.
Types:
• Industrial: Industrial service robots
carry out simple tasks, such as
examining welding, and more
complex harsh environment tasks
8.2. Industrial robots: such as aiding in the dismantling of
Industrial robots usually consist of a nuclear powers stations.
jointed arm (multi-linked manipulator) and • Domestic: Domestic performs tasks
gripper assembly (or end effectors) that is that humans regularly perform
attached to a fixed surface. around their homes such as
An industrial robot is defined by ISO cleaning floors, mowing the lawn
(international organisation of and pool maintenance. They can
standardization) as an automatically also provide assistance to the
controlled, reprogrammable, multipurpose disabled and infirm as well as
manipulator programmable in three or becoming robot butlers.
more axes. The field of robotics may be
more practically defined as the study,
design and use of robot systems for
manufacturing (a top-level definition
relying on the prior definition of robot).
Typical applications of robots include
welding, painting, assembly, pick and
place, packaging and palletizing, product
inspection, and testing, all accomplished
with high endurance, speed, and precision. Vacuum
cleaner

• Scientific: Robotic systems

perform many functions such as
repetitive tasks performed in
research. These range from the
 multiple repetitive tasks made by don't close their eyes. They don't hide
gene samplers and sequencers, to under trees when it rains and they don't
systems which can almost replace talk to their buddies ... A human's attention
the scientist in designing and to detail on guard duty drops dramatically
running experiments, analyzing in the first 30 minutes ... Machines know
data and even forming hypotheses. no fear."
Autonomous scientific robots 8.5. Telerobot:
perform tasks which humans would Telerobotics is the area of robotics
find difficult or impossible, from concerned with the control of robots from
the deep sea to outer space. a distance, chiefly using wireless
connections (like Wi-Fi, Bluetooth, the
Deep Space Network, and similar),
"tethered" connections, or the Internet. It is
a combination of two major subfields,
teleoperation and telepresence.
Teleoperation
Teleoperation means "doing work at a
distance", although "work" may mean
almost anything. The term "distance" is
also vague: it can refer to a physical
distance, where the operator is separated
from the robot by a large distance, but it
can also refer to a change in scale, where
for example in robotic surgery a surgeon
8.4. Military robot: may use micro-manipulator technology to
Military robots are autonomous robots or conduct surgery on a microscopic level.
remote-controlled devices designed for A telemanipulator (or teleoperator) is a
military applications. On the ground, robots device that is controlled remotely by a
have been deployed as mine sweepers and human operator. If such a device has the
for bomb disposal. The robot would also ability to perform autonomous work, it is
regularly scan barcodes of stored inventory called a telerobot.
as it passed and report any missing items.
Telepresence:
Telepresence means "feeling like you are
somewhere else". Some people have a very
technical interpretation of this, where they
insist that you must have head-mounted
displays in order to have telepresence.
Other people have a task-specific meaning,
where "presence" requires feeling that you
are emotionally and socially connected
with the remote world.

Interfaces:
A telerobotic interface can be as simple as
a common MMK (monitor-mouse-
keyboard) interface. While this is not
immersive, it is inexpensive. Telerobotics
The main advantage of using robots in driven by internet connections are often of
military is "Machines don't get tired. They this type. A valuable modification to
MMK is a joystick, which provides a more
intuitive navigation scheme for planar
robot movement.
Dedicated telepresence setups utilize a
head mounted display with either single or
dual eye display, or an ergonomically
matched interface with joystick and related
button, slider, trigger controls.
Future interfaces will merge fully
immersive virtual reality interfaces and
port real-time video instead of computer-
generated images. Another example would
be to use an omnidirectional treadmill with
an immersive display system so that the
robot is driven by the person walking or 8.7.Humanoid robot
running. Additional modifications may A humanoid robot is a robot with its overall
include merged data displays such as appearance based on that of the human
Infrared thermal imaging, real-time threat body.
assessment, or device schematics. In general humanoid robots have a torso
with a head, two arms and two legs --
although some
forms of humanoid robots may model only
part of the body, for example, from the
waist up.
Some humanoid robots may also have a
'face', with 'eyes' and 'mouth'.
Example: ASIMO

8.6. BEAM robot:

The word "beam" in BEAM robotics is an
acronym for Biology, Electronics,
Aesthetics, and Mechanics. This is a term
that refers to a style of robotics that
primarily uses simple analogue circuits,
such as comparators, instead of a
microprocessor in order to produce an
unusually simple design (in comparison to
traditional mobile robots) that trades
flexibility for robustness and efficiency in Specifications:
performing the task for which it was Weight: 43 kilograms
designed. Exceptions to the convention of Walking speed: 0-1.6 km/h
using only analog electronics do exist and Height: 120 cm
these are often colloquially referred to as Width: 45 cm
"mutants". BEAM robots typically consist Depth: 44 cm
of a set of the aforementioned analog Continuous operating time: 30 minutes
circuits (mimicking biological neurons)
which facilitate the robot's response to its 8.8.Microbot
working environment. Micro Electro Mechanical Systems
(MEMS)-microbots-were the newest tool in
high-tech surveillance-‘fly on the wall
technology’, they called it.
Although microscopic, remote-controlled
robots sounded like science fiction, in fact
they had been around since the 1990s.they
were now being used by advanced medical
facilities to help doctors navigate arteries
by remote control, observe live intravenous
video transmissions, and locate arterial
blockages without ever lifting a scalpel.
Advances in nanotechnology, lightweight Nowadays, owing chiefly to wireless
energy, absorbent materials, and connections, like Wi-Fi (i.e. in domotic
micromechanics had made the flying networks) the microbot's communication
microbots a reality. Microbots are also capacity has risen, so it can coordinate
using biological motors (DNA) as power with other microbots to carry out more
sources. They can scavenge power from complex tasks.
surroundings in the form of vibration or
light energy.

Microbot’s motors that can swim through

the human bloodstream. Known as
“Proteus”, this small piezoelectric motor
measures a mere 250 micrometers – that’s
roughly 2.5 times the width of a human
hair.

A swarm of robots on mars

9. Conclusion

There are many applications of robots in

today’s world like for industrial purpose,
military purpose, domestic purpose and
many more. There are many research areas
associated with the field of robotics which
aids in bringing an improvement in the
present technologies, and then we can
expect new ways of using robots which
will bring new hopes and new potentials.
They could be used to explore caves and
The research areas associated with robotics
large areas. They have spinoff capabilities
are:
for helping the military to search caves and
buildings.  Artificial intelligence
 Mechatronics
 Neural networks
 Cybernetics
 Synthetic consciousness
 Telepresence
 Nanotechnology &MEMS
  Microbots

Reference:
1. www.seattlerobotics.org
2. www.scribd.com
3. www.wikipedia.org
4. www.popsci.com
5. www.popularmechanics.com
6. Popular science magazine
7. Popular mechanic magazine Geminoid
Image courtesy of ATR Intelligent
Robotics/Communication Laboratories
The robot is a jarring experiment in
human-robot interaction.

A collection of variety of robots that

are in use:

Made in Korea: HSR Series

Image courtest of Kaist RIT Lab
South Korea's HanSaRam (HSR) series
Made in Japan: Palro has been updated every year since 2000.
Image courtesy of Fujisoft Inc.
Made in Korea: HSR Series (2)
Image courtest of Kaist RIT Lab
The HSR series is built by the Robot
Made in Korea: Hubo
Intelligence Technology Lab in Daejeon.
Image courtesy of Humanoid Robot
Research Center
Jun-Ho Oh's answer to Asimo, and Korea's
greatest humanoid

Made in Korea: HSR Series (3)

Image courtest of Kaist RIT Lab

The U.S. lags far behind Japan and South
Korea (where the HSR series hails from)
in humanoids
Made in Korea: Albert Hubo
Image courtesy of Hubo Lab/Kaist
The autonomy and bipedal movement of
Hubo, with an expressive face by Hanson
Robotics.

Made in Korea: Mahru

Image courtesy of the Korea Institute of
Science and Technology
Another Korean humanoid, the male of a
pair, built as a "network humanoid."
 Made in the U.S.A.: Robonaut
Image Courtesy of NASA

Made in the U.S.A.: Petman

Image courtesy of Boston Dynamics
Boston Dynamics's much-admired walking
robot has a humanlike gait but relies on
external power

Made in the U.S.A.: Wam Arm

Image courtesy of William
Townsend/Barrett Technology
Barrett Technology's purpose-build robot
appendage is attached to a sturdy base.
 Sony ERS-111 AIBO Entertainment
Robot