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1. Communication is a way to transmit information between two entities, such as people. It can be in the form of language, gestures, tone of voice, facial expressions, and so on. 2. A program is a series of numbers to the computer. The arrangement of the electronic components that make up the computer s processing unit provides meaning to the numbers. 3. The Turing machine is a generic, universal computer. It consists of a long tape covered with symbols that act as data for the machine. A read/write head manipulates the tape, while an internal state register
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keeps track of the machine s status. A transition table provides guidance to the machine. 4. There are di erent ways to break down the world of computer languages. One arrangement consists of control ow, data ow, and declarative (no ow) languages. Of course, there is also human language, which doesn t t any single category.
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1. I couldn t de ne intelligence either, not with any great level of success. For most robots, there is no need for any type of intelligence. Their needs are limited to the rote execution of instructions and some lowlevel re exes to shut down when something goes wrong. 2. PID (proportional, integral, derivative) controls are used to drive all sorts of systems, from motors to elevators (which are mostly just a box and a motor), to factory systems. They adjust their output based on an error measurement, the accumulation of error measurements, and even a prediction of error measurements to come. 3. The tricky aspect of sequential behaviors is often the decision as to when to change the behavior. For many cases this is easy punch three holes and then change tools. In other cases it is hard, such as nd Fred and give him this message. The driving around is not too hard, and replaying a message is easy, but how do you know it is Fred Layered behaviors have the same pattern-matching situation. How does one layer know when to subsume the next Of course, in many cases the behaviors are hard to program as well. In those cases, it s all hard. 4. There are probably others, but we discussed neural networks. In the simple one-layer network explored in this chapter, each neuron compares its template, or pattern example, with the signals it is receiving. The one with the best match shouts its result the loudest and wins the vote.
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1. Industrial sensors provide feedback to the controller so it can ne-tune the position of the robot s actuators.
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2. If you know the motion of a robot s wheels, you can calculate its rough position using odometry. The distance the center of the robot travels is the average of the distance its two wheels traveled. The change in the robot s angle is the di erence in the wheel s motions divided by the width of the robot. 3. Odometry su ers from the accumulation of errors, so the position and orientation information slowly becomes useless. 4. Neural networks can be trained with supervised learning, where situations and answers are presented together, and by unsupervised learning, where the network gures out the structure of its universe by exploring it. 5. Agents are like robots but without that cumbersome physical component.
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INDEX
AC, 157 160, 162 163, 167, 169, 172, 174, 176 179, 187, 189, 205, 214, 303 304 active, 105, 190, 195, 205, 270 271, 284, 304 actuator, 117, 149, 270, 272, 280, 307 agent, 1 2, 117, 294 295, 308 alternating current, see AC amp, 61, 63, 83, 204 amplitude, 158 160, 173 analog, 9, 17, 114, 198 199, 203, 205 android, 3, 7, 294 animatronics, 2, 4, 99 anode, 63 64, 161 ASCII, 121 atom, 17, 27 30, 55 57, 64, 191 194, 196 Audio-Animatronics, 4 automata, 2 5, 8, 10, 54, 98 99, 106, 123 autonomous, 244 avoirdupois, 18 axis, 17, 20, 22, 125, 129 130, 140 141, 145, 154, 173, 225, 237 axle, 113, 125, 132, 151
180, 186, 190, 192, 199 200, 207 208, 213, 217, 222, 245, 263 264, 269 270, 272, 280 283, 294 belt, 52, 114, 137, 139 140, 144, 148, 225, 270 bevel gear, 131, 145 146 B- eld, 58 binary, 117 121, 123, 246, 272 bit, 117 118, 120, 245 246, 249 block and tackle, 48 branch, 210 breadboard, 11, 70 72, 75, 87 92, 94, 176 bridge recti er, 162 163, 176 brush, 184 bus, 70 71 bushing, 126 128, 134
back-driving, 146 147 ball and socket, 128 130, 135 band gap, 192 band-gap lter, 174 band-pass lter, 174, 177 base, 32, 117, 119, 126, 147, 151 153, 201 202 base unit, 19 bearing, 126 128, 134, 137 behavior, 2, 54 55, 57, 95 97, 99, 107, 122 123, 151, 155, 157, 161, 166 167, 170, 174, 178,
calibrate, 80, 86, 93, 221 cam, 3 4, 54, 89, 99, 111 115, 117, 122 123, 225 227 cam follower, 112 113, 115, 225 capacitor, 11, 68, 157, 163, 165 172, 176, 178 179, 187, 189 190, 203 204 Capek, Karel, 1, 7 Cardan gear, 236 Cartesian, 22 cathode, 63 64, 161 center of gravity, 19, 97 98 center of mass, 19, 97, 137 142, 155, 255 chain, 52, 137 142, 155, 225 chain link, 52, 137 140 charge imbalance, 62, 166 charged particles, 54, 57 59, 61, 64
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