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#437301 The Global Work Crisis: Automation, the ...

The alarm bell rings. You open your eyes, come to your senses, and slide from dream state to consciousness. You hit the snooze button, and eventually crawl out of bed to the start of yet another working day.

This daily narrative is experienced by billions of people all over the world. We work, we eat, we sleep, and we repeat. As our lives pass day by day, the beating drums of the weekly routine take over and years pass until we reach our goal of retirement.

A Crisis of Work
We repeat the routine so that we can pay our bills, set our kids up for success, and provide for our families. And after a while, we start to forget what we would do with our lives if we didn’t have to go back to work.

In the end, we look back at our careers and reflect on what we’ve achieved. It may have been the hundreds of human interactions we’ve had; the thousands of emails read and replied to; the millions of minutes of physical labor—all to keep the global economy ticking along.

According to Gallup’s World Poll, only 15 percent of people worldwide are actually engaged with their jobs. The current state of “work” is not working for most people. In fact, it seems we as a species are trapped by a global work crisis, which condemns people to cast away their time just to get by in their day-to-day lives.

Technologies like artificial intelligence and automation may help relieve the work burdens of millions of people—but to benefit from their impact, we need to start changing our social structures and the way we think about work now.

The Specter of Automation
Automation has been ongoing since the Industrial Revolution. In recent decades it has taken on a more elegant guise, first with physical robots in production plants, and more recently with software automation entering most offices.

The driving goal behind much of this automation has always been productivity and hence, profits: technology that can act as a multiplier on what a single human can achieve in a day is of huge value to any company. Powered by this strong financial incentive, the quest for automation is growing ever more pervasive.

But if automation accelerates or even continues at its current pace and there aren’t strong social safety nets in place to catch the people who are negatively impacted (such as by losing their jobs), there could be a host of knock-on effects, including more concentrated wealth among a shrinking elite, more strain on government social support, an increase in depression and drug dependence, and even violent social unrest.

It seems as though we are rushing headlong into a major crisis, driven by the engine of accelerating automation. But what if instead of automation challenging our fragile status quo, we view it as the solution that can free us from the shackles of the Work Crisis?

The Way Out
In order to undertake this paradigm shift, we need to consider what society could potentially look like, as well as the problems associated with making this change. In the context of these crises, our primary aim should be for a system where people are not obligated to work to generate the means to survive. This removal of work should not threaten access to food, water, shelter, education, healthcare, energy, or human value. In our current system, work is the gatekeeper to these essentials: one can only access these (and even then often in a limited form), if one has a “job” that affords them.

Changing this system is thus a monumental task. This comes with two primary challenges: providing people without jobs with financial security, and ensuring they maintain a sense of their human value and worth. There are several measures that could be implemented to help meet these challenges, each with important steps for society to consider.

Universal basic income (UBI)

UBI is rapidly gaining support, and it would allow people to become shareholders in the fruits of automation, which would then be distributed more broadly.

UBI trials have been conducted in various countries around the world, including Finland, Kenya, and Spain. The findings have generally been positive on the health and well-being of the participants, and showed no evidence that UBI disincentivizes work, a common concern among the idea’s critics. The most recent popular voice for UBI has been that of former US presidential candidate Andrew Yang, who now runs a non-profit called Humanity Forward.

UBI could also remove wasteful bureaucracy in administering welfare payments (since everyone receives the same amount, there’s no need to prevent false claims), and promote the pursuit of projects aligned with peoples’ skill sets and passions, as well as quantifying the value of tasks not recognized by economic measures like Gross Domestic Product (GDP). This includes looking after children and the elderly at home.

How a UBI can be initiated with political will and social backing and paid for by governments has been hotly debated by economists and UBI enthusiasts. Variables like how much the UBI payments should be, whether to implement taxes such as Yang’s proposed valued added tax (VAT), whether to replace existing welfare payments, the impact on inflation, and the impact on “jobs” from people who would otherwise look for work require additional discussion. However, some have predicted the inevitability of UBI as a result of automation.

Universal healthcare

Another major component of any society is the healthcare of its citizens. A move away from work would further require the implementation of a universal healthcare system to decouple healthcare from jobs. Currently in the US, and indeed many other economies, healthcare is tied to employment.

Universal healthcare such as Medicare in Australia is evidence for the adage “prevention is better than cure,” when comparing the cost of healthcare in the US with Australia on a per capita basis. This has already presented itself as an advancement in the way healthcare is considered. There are further benefits of a healthier population, including less time and money spent on “sick-care.” Healthy people are more likely and more able to achieve their full potential.

Reshape the economy away from work-based value

One of the greatest challenges in a departure from work is for people to find value elsewhere in life. Many people view their identities as being inextricably tied to their jobs, and life without a job is therefore a threat to one’s sense of existence. This presents a shift that must be made at both a societal and personal level.

A person can only seek alternate value in life when afforded the time to do so. To this end, we need to start reducing “work-for-a-living” hours towards zero, which is a trend we are already seeing in Europe. This should not come at the cost of reducing wages pro rata, but rather could be complemented by UBI or additional schemes where people receive dividends for work done by automation. This transition makes even more sense when coupled with the idea of deviating from using GDP as a measure of societal growth, and instead adopting a well-being index based on universal human values like health, community, happiness, and peace.

The crux of this issue is in transitioning away from the view that work gives life meaning and life is about using work to survive, towards a view of living a life that itself is fulfilling and meaningful. This speaks directly to notions from Maslow’s hierarchy of needs, where work largely addresses psychological and safety needs such as shelter, food, and financial well-being. More people should have a chance to grow beyond the most basic needs and engage in self-actualization and transcendence.

The question is largely around what would provide people with a sense of value, and the answers would differ as much as people do; self-mastery, building relationships and contributing to community growth, fostering creativity, and even engaging in the enjoyable aspects of existing jobs could all come into play.

Universal education

With a move towards a society that promotes the values of living a good life, the education system would have to evolve as well. Researchers have long argued for a more nimble education system, but universities and even most online courses currently exist for the dominant purpose of ensuring people are adequately skilled to contribute to the economy. These “job factories” only exacerbate the Work Crisis. In fact, the response often given by educational institutions to the challenge posed by automation is to find new ways of upskilling students, such as ensuring they are all able to code. As alluded to earlier, this is a limited and unimaginative solution to the problem we are facing.

Instead, education should be centered on helping people acknowledge the current crisis of work and automation, teach them how to derive value that is decoupled from work, and enable people to embrace progress as we transition to the new economy.

Disrupting the Status Quo
While we seldom stop to think about it, much of the suffering faced by humanity is brought about by the systemic foe that is the Work Crisis. The way we think about work has brought society far and enabled tremendous developments, but at the same time it has failed many people. Now the status quo is threatened by those very developments as we progress to an era where machines are likely to take over many job functions.

This impending paradigm shift could be a threat to the stability of our fragile system, but only if it is not fully anticipated. If we prepare for it appropriately, it could instead be the key not just to our survival, but to a better future for all.

Image Credit: mostafa meraji from Pixabay Continue reading

Posted in Human Robots

#436944 Is Digital Learning Still Second Best?

As Covid-19 continues to spread, the world has gone digital on an unprecedented scale. Tens of thousands of employees are working from home, and huge conferences, like the Google I/O and Apple WWDC software extravaganzas, plan to experiment with digital events.

Universities too are sending students home. This might have meant an extended break from school not too long ago. But no more. As lecture halls go empty, an experiment into digital learning at scale is ramping up. In the US alone, over 100 universities, from Harvard to Duke, are offering online classes to students to keep the semester going.

While digital learning has been improving for some time, Covid-19 may not only tip us further into a more digitally connected reality, but also help us better appreciate its benefits. This is important because historically, digital learning has been viewed as inferior to traditional learning. But that may be changing.

The Inversion
We often think about digital technologies as ways to reach people without access to traditional services—online learning for children who don’t have schools nearby or telemedicine for patients with no access to doctors. And while these solutions have helped millions of people, they’re often viewed as “second best” and “better than nothing.” Even in more resource-rich environments, there’s an assumption one should pay more to attend an event in person—a concert, a football game, an exercise class—while digital equivalents are extremely cheap or free. Why is this? And is the situation about to change?

Take the case of Dr. Sanjeev Arora, a professor of medicine at the University of New Mexico. Arora started Project Echo because he was frustrated by how many late-stage cases of hepatitis C he encountered in rural New Mexico. He realized that if he had reached patients sooner, he could have prevented needless deaths. The solution? Digital learning for local health workers.

Project Echo connects rural healthcare practitioners to specialists at top health centers by video. The approach is collaborative: Specialists share best practices and work through cases with participants to apply them in the real world and learn from edge cases. Added to expert presentations, there are lots of opportunities to ask questions and interact with specialists.

The method forms a digital loop of learning, practice, assessment, and adjustment.

Since 2003, Project Echo has scaled to 800 locations in 39 countries and trained over 90,000 healthcare providers. Most notably, a study in The New England Journal of Medicine found that the outcomes of hepatitis C treatment given by Project Echo trained healthcare workers in rural and underserved areas were similar to outcomes at university medical centers. That is, digital learning in this context was equivalent to high quality in-person learning.

If that is possible today, with simple tools, will they surpass traditional medical centers and schools in the future? Can digital learning more generally follow suit and have the same success? Perhaps. Going digital brings its own special toolset to the table too.

The Benefits of Digital
If you’re training people online, you can record the session to better understand their engagement levels—or even add artificial intelligence to analyze it in real time. Ahura AI, for example, founded by Bryan Talebi, aims to upskill workers through online training. Early study of their method suggests they can significantly speed up learning by analyzing users’ real-time emotions—like frustration or distraction—and adjusting the lesson plan or difficulty on the fly.

Other benefits of digital learning include the near-instantaneous download of course materials—rather than printing and shipping books—and being able to more easily report grades and other results, a requirement for many schools and social services organizations. And of course, as other digitized industries show, digital learning can grow and scale further at much lower costs.

To that last point, 360ed, a digital learning startup founded in 2016 by Hla Hla Win, now serves millions of children in Myanmar with augmented reality lesson plans. And Global Startup Ecosystem, founded by Christine Souffrant Ntim and Einstein Kofi Ntim in 2015, is the world’s first and largest digital accelerator program. Their entirely online programs support over 1,000 companies in 90 countries. It’s astonishing how fast both of these organizations have grown.

Notably, both examples include offline experiences too. Many of the 360ed lesson plans come with paper flashcards children use with their smartphones because the online-offline interaction improves learning. The Global Startup Ecosystem also hosts about 10 additional in-person tech summits around the world on various topics through a related initiative.

Looking further ahead, probably the most important benefit of online learning will be its potential to integrate with other digital systems in the workplace.

Imagine a medical center that has perfect information about every patient and treatment in real time and that this information is (anonymously and privately) centralized, analyzed, and shared with medical centers, research labs, pharmaceutical companies, clinical trials, policy makers, and medical students around the world. Just as self-driving cars can learn to drive better by having access to the experiences of other self-driving cars, so too can any group working to solve complex, time-sensitive challenges learn from and build on each other’s experiences.

Why This Matters
While in the long term the world will likely end up combining the best aspects of traditional and digital learning, it’s important in the near term to be more aware of the assumptions we make about digital technologies. Some of the most pioneering work in education, healthcare, and other industries may not be highly visible right now because it is in a virtual setting. Most people are unaware, for example, that the busiest emergency room in rural America is already virtual.

Once they start converging with other digital technologies, these innovations will likely become the mainstream system for all of us. Which raises more questions: What is the best business model for these virtual services? If they start delivering better healthcare and educational outcomes than traditional institutions, should they charge more? Hopefully, we will see an even bigger shift occurring, in which technology allows us to provide high quality education, healthcare, and other services to everyone at more affordable prices than today.

These are some of the topics we can consider as Covid-19 forces us into uncharted territory.

Image Credit: Andras Vas / Unsplash Continue reading

Posted in Human Robots

#436209 Video Friday: Robotic Endoscope Travels ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):

DARPA SubT Urban Circuit – February 18-27, 2020 – Olympia, WA, USA
Let us know if you have suggestions for next week, and enjoy today's videos.

Kuka has just announced the results of its annual Innovation Award. From an initial batch of 30 applicants, five teams reached the finals (we were part of the judging committee). The five finalists worked for nearly a year on their applications, which they demonstrated this week at the Medica trade show in Düsseldorf, Germany. And the winner of the €20,000 prize is…Team RoboFORCE, led by the STORM Lab in the U.K., which developed a “robotic magnetic flexible endoscope for painless colorectal cancer screening, surveillance, and intervention.”

The system could improve colonoscopy procedures by reducing pain and discomfort as well as other risks such as bleeding and perforation, according to the STORM Lab researchers. It uses a magnetic field to control the endoscope, pulling rather than pushing it through the colon.

The other four finalists also presented some really interesting applications—you can see their videos below.

“Because we were so please with the high quality of the submissions, we will have next year’s finals again at the Medica fair, and the challenge will be named ‘Medical Robotics’,” says Rainer Bischoff, vice president for corporate research at Kuka. He adds that the selected teams will again use Kuka’s LBR Med robot arm, which is “already certified for integration into medical products and makes it particularly easy for startups to use a robot as the main component for a particular solution.”

Applications are now open for Kuka’s Innovation Award 2020. You can find more information on how to enter here. The deadline is 5 January 2020.

[ Kuka ]

Oh good, Aibo needs to be fed now.

You know what comes next, right?

[ Aibo ]

Your cat needs this robot.

It's about $200 on Kickstarter.

[ Kickstarter ]

Enjoy this tour of the Skydio offices courtesy Skydio 2, which runs into not even one single thing.

If any Skydio employees had important piles of papers on their desks, well, they don’t anymore.

[ Skydio ]

Artificial intelligence is everywhere nowadays, but what exactly does it mean? We asked a group MIT computer science grad students and post-docs how they personally define AI.

“When most people say AI, they actually mean machine learning, which is just pattern recognition.” Yup.

[ MIT ]

Using event-based cameras, this drone control system can track attitude at 1600 degrees per second (!).

[ UZH ]

Introduced at CES 2018, Walker is an intelligent humanoid service robot from UBTECH Robotics. Below are the latest features and technologies used during our latest round of development to make Walker even better.

[ Ubtech ]

Introducing the Alpha Prime by #VelodyneLidar, the most advanced lidar sensor on the market! Alpha Prime delivers an unrivaled combination of field-of-view, range, high-resolution, clarity and operational performance.

Performance looks good, but don’t expect it to be cheap.

[ Velodyne ]

Ghost Robotics’ Spirit 40 will start shipping to researchers in January of next year.

[ Ghost Robotics ]

Unitree is about to ship the first batch of their AlienGo quadrupeds as well:

[ Unitree ]

Mechanical engineering’s Sarah Bergbreiter discusses her work on micro robotics, how they draw inspiration from insects and animals, and how tiny robots can help humans in a variety of fields.

[ CMU ]

Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and achieve more robust manipulation, humans actively exploit contact constraints in the environment. By adopting a similar strategy, robots can also achieve more robust manipulation. In this paper, we enable a robot to autonomously modify its environment and thereby discover how to ease manipulation skill learning. Specifically, we provide the robot with fixtures that it can freely place within the environment. These fixtures provide hard constraints that limit the outcome of robot actions. Thereby, they funnel uncertainty from perception and motor control and scaffold manipulation skill learning.

[ Stanford ]

Since 2016, Verity's drones have completed more than 200,000 flights around the world. Completely autonomous, client-operated and designed for live events, Verity is making the magic real by turning drones into flying lights, characters, and props.

[ Verity ]

To monitor and stop the spread of wildfires, University of Michigan engineers developed UAVs that could find, map and report fires. One day UAVs like this could work with disaster response units, firefighters and other emergency teams to provide real-time accurate information to reduce damage and save lives. For their research, the University of Michigan graduate students won first place at a competition for using a swarm of UAVs to successfully map and report simulated wildfires.

[ University of Michigan ]

Here’s an important issue that I haven’t heard talked about all that much: How first responders should interact with self-driving cars.

“To put the car in manual mode, you must call Waymo.” Huh.

[ Waymo ]

Here’s what Gitai has been up to recently, from a Humanoids 2019 workshop talk.

[ Gitai ]

The latest CMU RI seminar comes from Girish Chowdhary at the University of Illinois at Urbana-Champaign on “Autonomous and Intelligent Robots in Unstructured Field Environments.”

What if a team of collaborative autonomous robots grew your food for you? In this talk, I will discuss some key advances in robotics, machine learning, and autonomy that will one day enable teams of small robots to grow food for you in your backyard in a fundamentally more sustainable way than modern mega-farms! Teams of small aerial and ground robots could be a potential solution to many of the serious problems that modern agriculture is facing. However, fully autonomous robots that operate without supervision for weeks, months, or entire growing season are not yet practical. I will discuss my group’s theoretical and practical work towards the underlying challenging problems in robotic systems, autonomy, sensing, and learning. I will begin with our lightweight, compact, and autonomous field robot TerraSentia and the recent successes of this type of undercanopy robots for high-throughput phenotyping with deep learning-based machine vision. I will also discuss how to make a team of autonomous robots learn to coordinate to weed large agricultural farms under partial observability. These direct applications will help me make the case for the type of reinforcement learning and adaptive control that are necessary to usher in the next generation of autonomous field robots that learn to solve complex problems in harsh, changing, and dynamic environments. I will then end with an overview of our new MURI, in which we are working towards developing AI and control that leverages neurodynamics inspired by the Octopus brain.

[ CMU RI ] Continue reading

Posted in Human Robots

#436186 Video Friday: Invasion of the Mini ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):

DARPA SubT Urban Circuit – February 18-27, 2020 – Olympia, Wash., USA
Let us know if you have suggestions for next week, and enjoy today’s videos.

There will be a Mini-Cheetah Workshop (sponsored by Naver Labs) a year from now at IROS 2020 in Las Vegas. Mini-Cheetahs for everyone!

That’s just a rendering, of course, but this isn’t:

[ MCW ]

I was like 95 percent sure that the Urban Circuit of the DARPA SubT Challenge was going to be in something very subway station-y. Oops!

In the Subterranean (SubT) Challenge, teams deploy autonomous ground and aerial systems to attempt to map, identify, and report artifacts along competition courses in underground environments. The artifacts represent items a first responder or service member may encounter in unknown underground sites. This video provides a preview of the Urban Circuit event location. The Urban Circuit is scheduled for February 18-27, 2020, at Satsop Business Park west of Olympia, Washington.

[ SubT ]

Researchers at SEAS and the Wyss Institute for Biologically Inspired Engineering have developed a resilient RoboBee powered by soft artificial muscles that can crash into walls, fall onto the floor, and collide with other RoboBees without being damaged. It is the first microrobot powered by soft actuators to achieve controlled flight.

To solve the problem of power density, the researchers built upon the electrically-driven soft actuators developed in the lab of David Clarke, the Extended Tarr Family Professor of Materials. These soft actuators are made using dielectric elastomers, soft materials with good insulating properties, that deform when an electric field is applied. By improving the electrode conductivity, the researchers were able to operate the actuator at 500 Hertz, on par with the rigid actuators used previously in similar robots.

Next, the researchers aim to increase the efficiency of the soft-powered robot, which still lags far behind more traditional flying robots.

[ Harvard ]

We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer human-level timing.

In a 3×3 user study, we vary the speed of the robot and add variable sensorimotor delays. We evaluate the social perception of the robot using the Robot Social Attribute Scale (RoSAS). Inclusion of a small delay, mimicking the delay of the human sensorimotor system, leads to an improvement in perceived qualities over both no delay and long delay conditions. Specifically, with no delay the robot is perceived as more discomforting and with a long delay, it is perceived as less warm.

[ Disney Research ]

When cars are autonomous, they’re not going to be able to pump themselves full of gas. Or, more likely, electrons. Kuka has the solution.

[ Kuka ]

This looks like fun, right?

[ Robocoaster ]

NASA is leading the way in the use of On-orbit Servicing, Assembly, and Manufacturing to enable large, persistent, upgradable, and maintainable spacecraft. This video was developed by the Advanced Concepts Lab (ACL) at NASA Langley Research Center.

[ NASA ]

The noisiest workshop by far at Humanoids last month (by far) was Musical Interactions With Humanoids, the end result of which was this:

[ Workshop ]

IROS is an IEEE event, and in furthering the IEEE mission to benefit humanity through technological innovation, IROS is doing a great job. But don’t take it from us – we are joined by IEEE President-Elect Professor Toshio Fukuda to find out a bit more about the impact events like IROS can have, as well as examine some of the issues around intelligent robotics and systems – from privacy to transparency of the systems at play.

[ IROS ]

Speaking of IROS, we hope you’ve been enjoying our coverage. We have already featured Harvard’s strange sea-urchin-inspired robot and a Japanese quadruped that can climb vertical ladders, with more stories to come over the next several weeks.

In the mean time, enjoy these 10 videos from the conference (as usual, we’re including the title, authors, and abstract for each—if you’d like more details about any of these projects, let us know and we’ll find out more for you).

“A Passive Closing, Tendon Driven, Adaptive Robot Hand for Ultra-Fast, Aerial Grasping and Perching,” by Andrew McLaren, Zak Fitzgerald, Geng Gao, and Minas Liarokapis from the University of Auckland, New Zealand.

Current grasping methods for aerial vehicles are slow, inaccurate and they cannot adapt to any target object. Thus, they do not allow for on-the-fly, ultra-fast grasping. In this paper, we present a passive closing, adaptive robot hand design that offers ultra-fast, aerial grasping for a wide range of everyday objects. We investigate alternative uses of structural compliance for the development of simple, adaptive robot grippers and hands and we propose an appropriate quick release mechanism that facilitates an instantaneous grasping execution. The quick release mechanism is triggered by a simple distance sensor. The proposed hand utilizes only two actuators to control multiple degrees of freedom over three fingers and it retains the superior grasping capabilities of adaptive grasping mechanisms, even under significant object pose or other environmental uncertainties. The hand achieves a grasping time of 96 ms, a maximum grasping force of 56 N and it is able to secure objects of various shapes at high speeds. The proposed hand can serve as the end-effector of grasping capable Unmanned Aerial Vehicle (UAV) platforms and it can offer perching capabilities, facilitating autonomous docking.

“Unstructured Terrain Navigation and Topographic Mapping With a Low-Cost Mobile Cuboid Robot,” by Andrew S. Morgan, Robert L. Baines, Hayley McClintock, and Brian Scassellati from Yale University, USA.

Current robotic terrain mapping techniques require expensive sensor suites to construct an environmental representation. In this work, we present a cube-shaped robot that can roll through unstructured terrain and construct a detailed topographic map of the surface that it traverses in real time with low computational and monetary expense. Our approach devolves many of the complexities of locomotion and mapping to passive mechanical features. Namely, rolling movement is achieved by sequentially inflating latex bladders that are located on four sides of the robot to destabilize and tip it. Sensing is achieved via arrays of fine plastic pins that passively conform to the geometry of underlying terrain, retracting into the cube. We developed a topography by shade algorithm to process images of the displaced pins to reconstruct terrain contours and elevation. We experimentally validated the efficacy of the proposed robot through object mapping and terrain locomotion tasks.

“Toward a Ballbot for Physically Leading People: A Human-Centered Approach,” by Zhongyu Li and Ralph Hollis from Carnegie Mellon University, USA.

This work presents a new human-centered method for indoor service robots to provide people with physical assistance and active guidance while traveling through congested and narrow spaces. As most previous work is robot-centered, this paper develops an end-to-end framework which includes a feedback path of the measured human positions. The framework combines a planning algorithm and a human-robot interaction module to guide the led person to a specified planned position. The approach is deployed on a person-size dynamically stable mobile robot, the CMU ballbot. Trials were conducted where the ballbot physically led a blindfolded person to safely navigate in a cluttered environment.

“Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot,” by Fan Shi, Moju Zhao, Tomoki Anzai, Keita Ito, Xiangyu Chen, Kei Okada, and Masayuki Inaba from the University of Tokyo, Japan.

Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.

“Small-Scale Compliant Dual Arm With Tail for Winged Aerial Robots,” by Alejandro Suarez, Manuel Perez, Guillermo Heredia, and Anibal Ollero from the University of Seville, Spain.

Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may not be suitable. This paper presents a first prototype of compliant dual arm as preliminary step towards the realization of a winged aerial robot capable of perching and manipulating with the wings folded. The dual arm provides 6 DOF (degrees of freedom) for end effector positioning in a human-like kinematic configuration, with a reach of 25 cm (half-scale w.r.t. the human arm), and 0.2 kg weight. The prototype is built with micro metal gear motors, measuring the joint angles and the deflection with small potentiometers. The paper covers the design, electronics, modeling and control of the arms. Experimental results in test-bench validate the developed prototype and its functionalities, including joint position and torque control, bimanual grasping, the dynamic equilibrium with the tail, and the generation of 3D maps with laser sensors attached at the arms.

“A Novel Small-Scale Turtle-inspired Amphibious Spherical Robot,” by Huiming Xing, Shuxiang Guo, Liwei Shi, Xihuan Hou, Yu Liu, Huikang Liu, Yao Hu, Debin Xia, and Zan Li from Beijing Institute of Technology, China.

This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.

“Advanced Autonomy on a Low-Cost Educational Drone Platform,” by Luke Eller, Theo Guerin, Baichuan Huang, Garrett Warren, Sophie Yang, Josh Roy, and Stefanie Tellex from Brown University, USA.

PiDrone is a quadrotor platform created to accompany an introductory robotics course. Students build an autonomous flying robot from scratch and learn to program it through assignments and projects. Existing educational robots do not have significant autonomous capabilities, such as high-level planning and mapping. We present a hardware and software framework for an autonomous aerial robot, in which all software for autonomy can run onboard the drone, implemented in Python. We present an Unscented Kalman Filter (UKF) for accurate state estimation. Next, we present an implementation of Monte Carlo (MC) Localization and Fast-SLAM for Simultaneous Localization and Mapping (SLAM). The performance of UKF, localization, and SLAM is tested and compared to ground truth, provided by a motion-capture system. Our evaluation demonstrates that our autonomous educational framework runs quickly and accurately on a Raspberry Pi in Python, making it ideal for use in educational settings.

“FlightGoggles: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality,” by Winter Guerra, Ezra Tal, Varun Murali, Gilhyun Ryou and Sertac Karaman from the Massachusetts Institute of Technology, USA.

FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in flight in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s) in flight. While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex dynamics are generated organically through natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest. FlightGoggles is distributed as open-source software along with the photorealistic graphics assets for several simulation environments, under the MIT license at http://flightgoggles.mit.edu.

“An Autonomous Quadrotor System for Robust High-Speed Flight Through Cluttered Environments Without GPS,” by Marc Rigter, Benjamin Morrell, Robert G. Reid, Gene B. Merewether, Theodore Tzanetos, Vinay Rajur, KC Wong, and Larry H. Matthies from University of Sydney, Australia; NASA Jet Propulsion Laboratory, California Institute of Technology, USA; and Georgia Institute of Technology, USA.

Robust autonomous flight without GPS is key to many emerging drone applications, such as delivery, search and rescue, and warehouse inspection. These and other appli- cations require accurate trajectory tracking through cluttered static environments, where GPS can be unreliable, while high- speed, agile, flight can increase efficiency. We describe the hardware and software of a quadrotor system that meets these requirements with onboard processing: a custom 300 mm wide quadrotor that uses two wide-field-of-view cameras for visual- inertial motion tracking and relocalization to a prior map. Collision-free trajectories are planned offline and tracked online with a custom tracking controller. This controller includes compensation for drag and variability in propeller performance, enabling accurate trajectory tracking, even at high speeds where aerodynamic effects are significant. We describe a system identification approach that identifies quadrotor-specific parameters via maximum likelihood estimation from flight data. Results from flight experiments are presented, which 1) validate the system identification method, 2) show that our controller with aerodynamic compensation reduces tracking error by more than 50% in both horizontal flights at up to 8.5 m/s and vertical flights at up to 3.1 m/s compared to the state-of-the-art, and 3) demonstrate our system tracking complex, aggressive, trajectories.

“Morphing Structure for Changing Hydrodynamic Characteristics of a Soft Underwater Walking Robot,” by Michael Ishida, Dylan Drotman, Benjamin Shih, Mark Hermes, Mitul Luhar, and Michael T. Tolley from the University of California, San Diego (UCSD) and University of Southern California, USA.

Existing platforms for underwater exploration and inspection are often limited to traversing open water and must expend large amounts of energy to maintain a position in flow for long periods of time. Many benthic animals overcome these limitations using legged locomotion and have different hydrodynamic profiles dictated by different body morphologies. This work presents an underwater legged robot with soft legs and a soft inflatable morphing body that can change shape to influence its hydrodynamic characteristics. Flow over the morphing body separates behind the trailing edge of the inflated shape, so whether the protrusion is at the front, center, or back of the robot influences the amount of drag and lift. When the legged robot (2.87 N underwater weight) needs to remain stationary in flow, an asymmetrically inflated body resists sliding by reducing lift on the body by 40% (from 0.52 N to 0.31 N) at the highest flow rate tested while only increasing drag by 5.5% (from 1.75 N to 1.85 N). When the legged robot needs to walk with flow, a large inflated body is pushed along by the flow, causing the robot to walk 16% faster than it would with an uninflated body. The body shape significantly affects the ability of the robot to walk against flow as it is able to walk against 0.09 m/s flow with the uninflated body, but is pushed backwards with a large inflated body. We demonstrate that the robot can detect changes in flow velocity with a commercial force sensor and respond by morphing into a hydrodynamically preferable shape. Continue reading

Posted in Human Robots

#436184 Why People Demanded Privacy to Confide ...

This is part four of a six-part series on the history of natural language processing.

Between 1964 and 1966, Joseph Weizenbaum, a German American computer scientist at MIT’s artificial intelligence lab, developed the first-ever chatbot [PDF].

While there were already some rudimentary digital language generators in existence—programs that could spit out somewhat coherent lines of text—Weizenbaum’s program was the first designed explicitly for interactions with humans. The user could type in some statement or set of statements in their normal language, press enter, and receive a response from the machine. As Weizenbaum explained, his program made “certain kinds of natural-language conversation between man and computer possible.”

He named the program Eliza after Eliza Doolittle, the working-class hero of George Bernard Shaw’s Pygmalion who learns how to talk with an upper-class accent. The new Eliza was written for the 36-bit IBM 7094, an early transistorized mainframe computer, in a programming language that Weizenbaum developed called MAD-SLIP.

Because computer time was a valuable resource, Eliza could only be run via a time-sharing system; the user interacted with the program remotely via an electric typewriter and printer. When the user typed in a sentence and pressed enter, a message was sent to the mainframe computer. Eliza scanned the message for the presence of a keyword and used it in a new sentence to form a response that was sent back, printed out, and read by the user.

To encourage ongoing dialogue, Weizenbaum designed Eliza to simulate the type of conversational style used by a Rogerian psychoanalyst. The program would take something the user said and reflect it back with a question, as can be seen in the example below. (Notice how the program takes keywords like “boyfriend” and “depressed” and re-uses them.)

Human: Men are all alike.

Computer: IN WHAT WAY?

Human: They're always bugging us about something or other.

Computer: CAN YOU THINK OF A SPECIFIC EXAMPLE?

Human: Well, my boyfriend made me come here.

Computer: YOUR BOYFRIEND MADE YOU COME HERE

Human: He says I'm depressed much of the time.

Computer: I AM SORRY TO HEAR YOU ARE DEPRESSED

Human: It's true. I am unhappy.

Weizenbaum chose this mode of dialogue for Eliza because it gave the impression that the computer understood what was being said without having to offer anything new to the conversation. It created the illusion of comprehension and engagement in a mere 200 lines of code.

To test Eliza’s capacity to engage an interlocutor, Weizenbaum invited students and colleagues into his office and let them chat with the machine while he looked on. He noticed, with some concern, that during their brief interactions with Eliza, many users began forming emotional attachments to the algorithm. They would open up to the machine and confess problems they were facing in their lives and relationships.

During their brief interactions with Eliza, many users began forming emotional attachments to the algorithm.

Even more surprising was that this sense of intimacy persisted even after Weizenbaum described how the machine worked and explained that it didn’t really understand anything that was being said. Weizenbaum was most troubled when his secretary, who had watched him build the program from scratch over many months, insisted that he leave the room so she could talk to Eliza in private.

For Weizenbaum, this experiment with Eliza made him question an idea that Alan Turing had proposed in 1950 about machine intelligence. In his paper, entitled “Computing Machinery and Intelligence,” Turing suggested that if a computer could conduct a convincingly human conversation in text, one could assume it was intelligent—an idea that became the basis of the famous Turing Test.

But Eliza demonstrated that convincing communication between a human and a machine could take place even if comprehension only flowed from one side: The simulation of intelligence, rather than intelligence itself, was enough to fool people. Weizenbaum called this the Eliza effect, and believed it was a type of “delusional thinking” that humanity would collectively suffer from in the digital age. This insight was a profound shock for Weizenbaum, and one that came to define his intellectual trajectory over the next decade.

The simulation of intelligence, rather than intelligence itself, was enough to fool people.

In 1976, he published Computing Power and Human Reason: From Judgment to Calculation [PDF], which offered a long meditation on why people are willing to believe that a simple machine might be able to understand their complex human emotions.

In this book, he argues that the Eliza effect signifies a broader pathology afflicting “modern man.” In a world conquered by science, technology, and capitalism, people had grown accustomed to viewing themselves as isolated cogs in a large and uncaring machine. In such a diminished social world, Weizenbaum reasoned, people had grown so desperate for connection that they put aside their reason and judgment in order to believe that a program could care about their problems.

Weizenbaum spent the rest of his life developing this humanistic critique of artificial intelligence and digital technology. His mission was to remind people that their machines were not as smart as they were often said to be. And that even though it sometimes appeared as though they could talk, they were never really listening.

This is the fourth installment of a six-part series on the history of natural language processing. Last week’s post described Andrey Markov and Claude Shannon’s painstaking efforts to create statistical models of language for text generation. Come back next Monday for part five, “In 2016, Microsoft’s Racist Chatbot Revealed the Dangers of Conversation.”

You can also check out our prior series on the untold history of AI. Continue reading

Posted in Human Robots