83 lines
4.8 KiB
Org Mode
83 lines
4.8 KiB
Org Mode
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* Assignment 2
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We discussed the idea of hardware components in the “How Computers Work: Hardware” lecture and
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discussed the idea of algorithms and libraries in the “How Computers Work: Software” lecture. Let
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us assume we wanted to build a real-life robot, where you are able to input instructions to
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complete many different tasks such as: moving around a space without running into walls, objects,
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or people; picking up and placing objects; identifying everyday objects and their basic uses;
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using objects as tools (e.g., using a broom to sweep, using a wrench to tighten/loosen screws,
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etc.); basic speech capabilities (i.e., it can both listen to take in certain commands and speak
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to notify when tasks are completed or for more clarification on tasks); etc. Please answer the
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following questions about such a robot. (Note, when answering these questions, you may simply list
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them out using bullet points instead of in paragraphs in order as this will make grading faster
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and easier).
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1. What major hardware components would be needed to achieve at least some of the listed actions
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the robot should be able to perform? Make sure to think about everything needed to complete
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each action, e.g. it needs to “see” where it’s going, it needs to walk, etc. (You do not need
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to list low-level components such as motherboards, servos, etc., just the high-level idea of
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each major necessary piece). List at least 5 major components:
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2. While you are able to give certain instructions/commands and you have the hardware necessary
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to perform the tasks, we would need MANY libraries and frameworks on top of the hardware to
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actually carry out these tasks. Please list out as many library packages that you can think of
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that would be needed to perform the listed tasks. Please give a name or basic description of
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general “packages” of libraries, e.g. it will need to be able to walk so it will need libraries
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to: calculate distance, move servos and limbs, correct for imbalance (or imperfections in the
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floor), etc. List at least 1 library/framework that would be needed for each of the hardware
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components you listed above:
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** Question One Answer
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Bullet points included to ease the grading process:
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1. Movement Requirement
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- Treads or legs
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2. Collision Avoidance
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- A sensor like a camera or LIDAR/RADAR
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3. Picking Up and Placing Objects
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- A claw, like from a claw machine
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4. Identification of Everyday Items
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- A database, meaning storage — a hard disk for instance — filled with everyday items and their
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uses.
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5. Using Objects as Tools
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- An arm ending in a hand with an opposable thumb — basically a human arm
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6. Basic Speech Capabilities
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- A microphone to receive commands and a speaker to respond with
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** Question Two Answer
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- In general, we'll need a library for each hardware element to interface with the hardware
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directly. We need to use the correct protocol (or speak the same language) to correctly drive
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the hardware.
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1. Movement Requirement
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- A library to determine power of the movement — how much torque should be applied for
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instance.
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- A library for balancing the robot if using legs, quite the complex problem.
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2. Collision Avoidance
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- A library to turn the raw data from either a camera or LIDAR/RADAR into something usable by
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our own code — the input data may literally be just pixels and color depth, this has to be
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translated.
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- A library to determine the 3D location of objects based on the sensor readings.
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- A library to determine the robots current position in space, after all how can we avoid
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collision if we don't even know where we are.
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- A library for path finding — basic collision avoidance based on the previous libraries.
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3. Picking Up and Placing Objects
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- A library to clench and unclench our grabber of choice, basically open and close it.
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- A library to move the grabber into place over an object we want to pick up.
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- A library to sync between the sensors and the grabber to correctly align the grabber over an
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object to pick up.
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4. Identification of Everyday Items
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- We need a library to map the sensor data to discrete objects. Basically, determining if
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an object picked up by the sensor is a specific item like a pencil, fork, or whatever else
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it may be.
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5. Using Objects as Tools
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- A library to read from our database of how to use items and use that to actually use the
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item in question.
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- A library to map the database inputs to actual actions on the robot. For instance, taking
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the data on how to sweep with a broom and actually sweeping with a broom.
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6. Basic Speech Capabilities
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- A natural language processing library. This is needed to parse and understand commands.
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- A library for then taking those commands and outputting over the speaker responses.
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