Robotics Subsystems Quiz

Podcast

Play an AI-generated podcast conversation about this lesson

Questions and Answers

Which subsystem is primarily responsible for generating paths and goals for a robot?

Perception, Sensing, Perceptual Schemas

Planning

Navigation (correct)

Motor Schemas, Behaviors

What is the main purpose of the 'World Model' within a robotics system?

To provide a map for navigation and planning of the environment. (correct)

To perceive external object attributes.

To process raw sensor data.

To directly control the robot's actuators.

Which subsystem is responsible for executing motor commands?

Motor Schemas, Behaviors (correct)

Sensing

Navigation

Planning

What does the Planning subsystem primarily focus on?

Generating, implementing, selecting, and monitoring missions. Signup and view all the answers

Which of these is NOT a generally accepted subsystem?

Actuation Mechanism Design Signup and view all the answers

What is the 'Perception, Sensing, Perceptual Schemas' subsystem responsible for?

Processing sensor input Signup and view all the answers

What are the two attributes that the text mentions can be used to define and organise subsystems?

The text does not mention two defined attributes. Signup and view all the answers

In the context of the text, the term 'Cartographer' is closely associated with which subsystem?

World Model Signup and view all the answers

Which architectural level focuses on the 'what' rather than 'how' of a system's functions?

Operational architecture Signup and view all the answers

Which of the following best describes the focus of technical architecture?

Implementation details and programming languages. Signup and view all the answers

In the most abstract canonical operational architecture, which layer is associated with skills and responses?

Reactive Layer Signup and view all the answers

Which layer of the abstract canonical operational architecture is responsible for reasoning over symbols and information related to goals?

Deliberative Layer Signup and view all the answers

In the context of 'More Tangible Canonical Operational Architecture', what is meant by the term 'monitoring'?

Converting sensor data into useful information. Signup and view all the answers

According to the content, which of the following is a promising result of the 'converting sensor data into information' process?

Automatic Target Recognition (ATR) Signup and view all the answers

Which of the following is NOT mentioned as an open issue related to 'reasoning over information about goals'?

Navigation. Signup and view all the answers

What design philosophy is associated with systems architecture to ensure good software engineering?

Modular with abstraction and cohesion. Signup and view all the answers

What does it mean for a system architecture to be 'platform neutral'?

It can be implemented across different hardware without major changes. Signup and view all the answers

In the 'More Tangible Canonical Operational Architecture', what is the time focus of the 'implementing' activity?

Primarily the present. Signup and view all the answers

What time horizon is associated with the 'deliberation' component of the operational architecture?

Present, Past, and Future. Signup and view all the answers

What characterizes the relationship between the layers in the abstract operational architecture?

Each layer has a different style of program organization. Signup and view all the answers

What is the primary purpose of using libraries of algorithms and data structures within a subsystem?

To pick algorithms to fit specific functionalities. Signup and view all the answers

What is the purpose of the 'selecting' component in the 'More Tangible Canonical Operational Architecture'?

Choosing which actions to take. Signup and view all the answers

What does the term 'cohesion', as it relates to system architecture, refer to?

Grouping related functionalities within a module. Signup and view all the answers

Which of the following is NOT explicitly mentioned as a type of algorithm used in AI robotics?

Support vector machines Signup and view all the answers

In a 'software as a service' approach for robotics, what is a key characteristic of the modules/functions?

They are stateless Signup and view all the answers

What does the concept of 'niche targetability' refer to in the context of evaluating a technical architecture for robotics?

The ability to be adapted to different domains Signup and view all the answers

Which of these is NOT identified as a type of paradigm for robot system architecture?

Proactive Signup and view all the answers

What is meant by the term 'proxy processing' in the context of software services for robotics?

Centralized control processing on a separate computer Signup and view all the answers

What does the term 'architecture' in AI robotics most often refer to?

The arrangement and functionality of the robot's operational system. Signup and view all the answers

Which of the following is NOT mentioned as a primary concern when evaluating a technical architecture?

Computational efficiency Signup and view all the answers

Which of the following is NOT a typical layer in a hybrid architecture?

Analytical Signup and view all the answers

What is a key practical benefit of using libraries in a 'software as a service' model?

They can be stored and distributed off-board Signup and view all the answers

Which of the following is NOT considered a paradigm for the system architecture of an AI robot?

Predictive Signup and view all the answers

What does the text suggest about 'robustness' in the design of robotic systems?

It is often neglected beyond reactive system's tendency to 'do the right thing' Signup and view all the answers

Which subsystem is primarily responsible for generating motor commands in a robotic system?

Motor Schemas Signup and view all the answers

Which of the following is NOT provided as an example of data structures that are used in AI robotics?

Relational databases Signup and view all the answers

What is the main function of the 'Planning' subsystem within a robotic architecture?

Monitoring and selecting a mission. Signup and view all the answers

What is described as 'the Big Picture of how to program an intelligent robot'?

An architecture Signup and view all the answers

What is the role of 'telesystems' in addressing the limitations of current AI robotics?

To allow humans to compensate for issues in converting sensor data to symbols. Signup and view all the answers

Which of the following best represents what a technical architecture in AI robotics includes?

Specific algorithms, control methods, and knowledge structures. Signup and view all the answers

Which subsystem is primarily focused on interpreting sensory inputs in the robotic architecture?

Perception Signup and view all the answers

Which of the following describes a core characteristic of the hybrid deliberative/reactive paradigm?

It combines planning with sense-act cycles. Signup and view all the answers

In a hybrid architecture, what does the term 'virtual sensor' refer to?

The output of a deliberative function that looks like a sensor output to a behavior. Signup and view all the answers

Which of these paradigms is most favored for its perceived efficiency and deterministic nature by the Department of Defense (DoD) and NASA?

Hierarchical Paradigm Signup and view all the answers

What is a key difference between hybrid systems and purely reactive systems?

Hybrid systems incorporate planning, while reactive systems do not. Signup and view all the answers

Which of these is most indicative of a 'managerial' style in hybrid system architecture?

Division of responsibilities resembling a business. Signup and view all the answers

What is a main characteristic of 'state hierarchies', as seen in the 3T architecture?

They are structured strictly by time scope. Signup and view all the answers

Which approach is most associated with the use of models acting as virtual sensors and incorporating multiple world models?

Model-oriented approach. Signup and view all the answers

What does the 'cartographer' component typically manage in a hybrid system?

The creation and maintenance of a world map/knowledge rep Signup and view all the answers

In the context of the hybrid deliberative/reactive paradigm, what does 'event-driven planning' emphasize?

Planning that is triggered by specific events or needs. Signup and view all the answers

What is meant by the term 'paradigm war' in the context of system architectures?

The competition between different architectural styles or approaches. Signup and view all the answers

Which feature is most frequently attributed to the hybrid paradigm?

It is the most modular. Signup and view all the answers

Which of these best describes the role of the 'sequencer' in a hybrid system?

It coordinates and orders the execution of behaviors. Signup and view all the answers

What is the typical relationship between sensors and behaviors in a shared organization as seen in several hybrid systems?

Deliberative functions can 'eavesdrop' on sensor data. Signup and view all the answers

What does the term 'technical architecture' primarily deal with?

Evaluating system performance and design choices. Signup and view all the answers

According to the material, what was the initial public reaction to 'control' systems?

Hated by control people, loved by AI people and users. Signup and view all the answers

Which of the following subsystems is commonly implemented in reactive robots?

Reactive Signup and view all the answers

What is the primary focus of the "Robomow" example?

Illustrating the use of reactive behaviors in a real-world robotic application Signup and view all the answers

What does the "My Real Baby" example showcase about robots?

The potential for robots to exhibit multiple behaviors triggered by different sensory inputs. Signup and view all the answers

Why are the "Disney" animatronics considered "reactive robots"?

They employ advanced algorithms to interpret and respond to real-time sensory information. Signup and view all the answers

What is the primary difference between a hierarchical and a reactive robot?

Hierarchical robots prioritize planning while reactive robots prioritize immediate response. Signup and view all the answers

Study Notes

System Architectures

System architectures are ways to organize systems.
There are 3 ways to generally organize systems.
There are 5 common subsystems.
These 5 subsystems were part of a historical evolution of Hierarchical, Reactive, and Hybrid Deliberative/Reactive systems.
These systems contribute to canonical system architecture.
Technical architectures are discussed as well.
Summaries for the topic of system architectures are included.

Specific Learning Objectives

Students should learn to relate the functions in the canonical operational architecture to the 5 common subsystems.
Classifying system architecture as hierarchical, reactive, or a hybrid deliberate/reactive should be possible.
Students should be able to draw the Hybrid Deliberative/Reactive System Architecture.

Types of Architectures

Operational architecture describes the systems purpose but not how it works.
Systems architecture defines how a system functions through subsystems.
Technical architecture defines implementation details and language of the system.

The Most Abstract Canonical Operational Architecture

The "upper brain" or cortex is responsible for reasoning about goals.
The "middle brain" handles the conversion of sensor data into symbols.
The spinal cord and "lower brain" are responsible for skills to provide responses.
Each layer has a distinct style of program organization.
Layers are not concerned with the details of the interaction layer.

More Tangible Canonical Operational Architecture

This is a diagram showing a system with monitoring, generating, selecting, implementing, sensing, and acting steps.
The different speeds are outlined as well.

Reasoning over Information about Goals

This section talks about promising results, specifically navigation, payload planning, contingency replanning, and fault recovery, multi-agent replanning.
Open issues are then listed such as multi-agent replanning, fault recovery, reconfiguration, and reasoning about multiple failures.

Types of Architectures

Operational architecture describes what the system does, not how.
System architecture describes how it works using subsystems
Technical architecture explains implementation details and language.

System Architectures Provide...

Right subsystems are focused on good software engineering practices.
Modular and well-cohesive subsystems are ideal.
Libraries of algorithms and structures are essential within each subsystem for flexibility in filling a niche.
Platform neutrality implies that solutions work across various platforms and languages.

What are the Subsystems in a System Architecture?

Navigation, Cartographer, World Model, World Map, planning about navigational goals, path planning are all part of the subsystems.
Planning, generating missions, implementing, selecting, and monitoring are also included.
Motor Schemas and Behaviors, executing motor commands, as well as Perception, Sensing, and Perceptual Schemas, executing sensor input are other components.

Describing Systems Architectures in Al Robotics

Subsystems can be thought of in terms of two key attributes:
Relationship describes how robot primitives are arranged.
Content details how sensing is handled.
A common 3-paradigm categorization exists for AI robotic system architectures: Hierarchical, Reactive, and Hybrid Deliberative/Reactive.

Al Primitives within an Agent

This talks about the three key primitives of Sense, Plan, and Act.
A fourth primitive of Learn is also discussed.

Hierarchical (1967)

This system had issues with closed loops, monolithic designs, and execution speed.
It was a common early approach, but had some obvious shortcomings.

Hierarchical Paradigm for Operational Architectures

Advantages include organization, not being rigid, and not inherently inefficient.
Inefficiencies can be the same if the goal and priorities are not clear.

Hierarchical Paradigm: Sequence of 3 Primitives

These diagrams portray the arrangement of actions in the Sense, Plan, and Act phases.
A sequential paradigm of these processes is shown.

Hierarchical Paradigm: Sensing is Centralized (global)

The world model is a structured, integrated body of knowledge, combining a priori representation, sensed information and cognitive understanding.
The world model helps with determining what actions to take.

Hierarchical Paradigm: Notable Systems Architectures

STRIPS/GPS (Nilsson) is an example of a system.
Notably, Shakey, a first AI robot was discussed.

Nested Hierarchical Controller or NHC (Mystel)

Mostly theoretical. Thought out to guide navigation.
Divised into subsystems, further illustrating the various stages to aid in navigation.
Mission planner, navigator, pilot, world model, and basic level controllers were further refined subdivisions.

NIST Real-time Control System or RCS (Albus)

Integrated NHC. Modified and further refined.
Involved a world model, behavior generation, and value judgment aspects.
Used in the military in the late 1980s.
This approach was later adapted to new versions for hybrid use.

Demo III XUV

This presentation shows the architecture of a specific AI robotic system.
Various stages are shown in the chart that indicate the levels of detail in the system.

Demo III Control Hierarchy

This shows the tiered breakdown of a control hierarchy for the referenced robotic system.
Various sections of the system are outlined with their relationships and timings to aid in understanding.

Disadvantages of Hierarchical Organizational Architectures

Relies on a world model that can be a bottleneck for processing.
A potential problem with creating multiple layers or hierarchies within the world model to match other subsystems.
The world model needs comprehensive representation, and often operates under the closed-world assumption.
Frame problems can arise as well.

Reactive (1986)

A different paradigm introduced in the 1986 timeframe.
"Plan" is not part of the process.
This is a process that is very effective when it works, but is often difficult to prove.

Reactive Paradigm: Two Primitives Grouped into Concurrent Behaviors

The diagram indicates Sense-Act couplings (behaviors) working concurrently.
This illustrates a different method than the hierarchical system.

Reactive Paradigm: Sensing is Behavior Specific (local)

Behaviors can be independent.
These processes are initiated by sensory or internal events.
World models are not needed, as well as long-term memory.

Reactive Robots

Behaviors (processes) are released by perceptual events.
No world models nor long-term memory.
Behavior is modular and generic leading to the emergence of the overall behavior.

Reactive Paradigm: Notable Systems Architectures

Subsumption (Brooks): Subsystems are absent. Layers of competence are the method.
AuRA (Arkin): Potential field implementation (details to cover later).

Seriously, What Can You Do Without Planning?

The importance of planning, and the possible problems without it.

Robomow

The outline of functionalities in a lawn-mowing robot, focused on behaviors and actions.

My Real Baby

Behaviors were presented in this example robot design.

Reactive Robots Among Us (not so obvious)

Real world examples such as Disney animatronics.
Web search engines and appliances are other examples.

Hybrid Deliberative/Reactive (1990)

The Plan, Sense, and Act sections.
The concept of a lowest-level model is absent in this implementation.

Hybrid Deliberative/Reactive: Plan, then Sense-Act

This layout of Plan, Sense, and Act is shown repeated until tasks are complete.

Hybrid Paradigm: Sensing Organization is Shared

World Map/Knowledge is available for shared sensing/use by other systems.
Deliberative functionality that can "listen in" on other processes.

The Hybrid Deliberative/Reactive System Architecture: The Heart of the Canonical Operational and System Architecture

This is a visual representation of a hybrid system.
Various system parts are connected and working together, and how various parts work together.

Contributions of 3 Different Styles

Various aspects such as Managerial, State Hierarchies and Model-Oriented are presented.
The key characteristics of the three different viewpoints are given.

Systems Architecture

Systems architecture evolve based on the functional roles and paradigms in use.
The hybrid system is more expandable and reusable and modular.

What Goes into the Technical Architecture?

Specific details of algorithm, control/coordination knowledge structures.

Software-Service Flavor

Modules/functions are reused; independent of programming language; stateless.

Evaluating the Technical Architecture

Support for modularity via decomposition.
Niche targetability through adaptability.
Ease of portability.
Robustness is a key concept.

Summary and Additional Thoughts

Summary of how the systems work. Further notes and considerations are listed.

Summary: Architectures

An intelligent system's architecture is the comprehensive picture for programming the system.
The "architecture", in the context of Al robotics, refers to the operational architecture which covers functionality of the system.
Three layers that define a system architecture: Reactive, Deliberative, and Interface layers.
Hybrid approach (deliberative/reactive) is innovative.
Operational and system architecture influence the technical architecture.

Summary, Specific Questions

How can we make the structure of an architecture more understandable?
What are the various subsystems in a system architecture?
What is included in a technical architecture?

Next Lecture

Discussion on how to improve the use of symbols, particularly in Al robotics.
How to integrate users into the loop to compensate for issues in converting sensor data to the symbolic representations in Al.
How should an intelligent robot be designed to aid people who want to work remotely, particularly for activities such as commuting, telehealth, and surveillance, by using a telesystem for remote presence?

Studying That Suits You

Use AI to generate personalized quizzes and flashcards to suit your learning preferences.

Description

Test your knowledge on the various subsystems within robotics, including their functions and responsibilities. This quiz covers crucial concepts such as the 'World Model', planning, and perception within robotic systems.

Robotics Subsystems Quiz

Choose a study mode

Podcast

Questions and Answers

Which subsystem is primarily responsible for generating paths and goals for a robot?

What is the main purpose of the 'World Model' within a robotics system?

Which subsystem is responsible for executing motor commands?

What does the Planning subsystem primarily focus on?

Which of these is NOT a generally accepted subsystem?

What is the 'Perception, Sensing, Perceptual Schemas' subsystem responsible for?

What are the two attributes that the text mentions can be used to define and organise subsystems?

In the context of the text, the term 'Cartographer' is closely associated with which subsystem?

Which architectural level focuses on the 'what' rather than 'how' of a system's functions?

Which of the following best describes the focus of technical architecture?

In the most abstract canonical operational architecture, which layer is associated with skills and responses?

Which layer of the abstract canonical operational architecture is responsible for reasoning over symbols and information related to goals?

In the context of 'More Tangible Canonical Operational Architecture', what is meant by the term 'monitoring'?

According to the content, which of the following is a promising result of the 'converting sensor data into information' process?

Which of the following is NOT mentioned as an open issue related to 'reasoning over information about goals'?

What design philosophy is associated with systems architecture to ensure good software engineering?

What does it mean for a system architecture to be 'platform neutral'?

In the 'More Tangible Canonical Operational Architecture', what is the time focus of the 'implementing' activity?

What time horizon is associated with the 'deliberation' component of the operational architecture?

What characterizes the relationship between the layers in the abstract operational architecture?

What is the primary purpose of using libraries of algorithms and data structures within a subsystem?

What is the purpose of the 'selecting' component in the 'More Tangible Canonical Operational Architecture'?

What does the term 'cohesion', as it relates to system architecture, refer to?

Which of the following is NOT explicitly mentioned as a type of algorithm used in AI robotics?

In a 'software as a service' approach for robotics, what is a key characteristic of the modules/functions?

What does the concept of 'niche targetability' refer to in the context of evaluating a technical architecture for robotics?

Which of these is NOT identified as a type of paradigm for robot system architecture?

What is meant by the term 'proxy processing' in the context of software services for robotics?

What does the term 'architecture' in AI robotics most often refer to?

Which of the following is NOT mentioned as a primary concern when evaluating a technical architecture?

Which of the following is NOT a typical layer in a hybrid architecture?

What is a key practical benefit of using libraries in a 'software as a service' model?

Which of the following is NOT considered a paradigm for the system architecture of an AI robot?

What does the text suggest about 'robustness' in the design of robotic systems?

Which subsystem is primarily responsible for generating motor commands in a robotic system?

Which of the following is NOT provided as an example of data structures that are used in AI robotics?

What is the main function of the 'Planning' subsystem within a robotic architecture?

What is described as 'the Big Picture of how to program an intelligent robot'?

What is the role of 'telesystems' in addressing the limitations of current AI robotics?

Which of the following best represents what a technical architecture in AI robotics includes?

Which subsystem is primarily focused on interpreting sensory inputs in the robotic architecture?

Which of the following describes a core characteristic of the hybrid deliberative/reactive paradigm?

In a hybrid architecture, what does the term 'virtual sensor' refer to?

Which of these paradigms is most favored for its perceived efficiency and deterministic nature by the Department of Defense (DoD) and NASA?

What is a key difference between hybrid systems and purely reactive systems?

Which of these is most indicative of a 'managerial' style in hybrid system architecture?

What is a main characteristic of 'state hierarchies', as seen in the 3T architecture?

Which approach is most associated with the use of models acting as virtual sensors and incorporating multiple world models?

What does the 'cartographer' component typically manage in a hybrid system?

In the context of the hybrid deliberative/reactive paradigm, what does 'event-driven planning' emphasize?

What is meant by the term 'paradigm war' in the context of system architectures?

Which feature is most frequently attributed to the hybrid paradigm?

Which of these best describes the role of the 'sequencer' in a hybrid system?

What is the typical relationship between sensors and behaviors in a shared organization as seen in several hybrid systems?

What does the term 'technical architecture' primarily deal with?

According to the material, what was the initial public reaction to 'control' systems?

Which of the following subsystems is commonly implemented in reactive robots?

What is the primary focus of the "Robomow" example?

What does the "My Real Baby" example showcase about robots?

Why are the "Disney" animatronics considered "reactive robots"?

What is the primary difference between a hierarchical and a reactive robot?

Study Notes

System Architectures

Specific Learning Objectives

Types of Architectures

The Most Abstract Canonical Operational Architecture

More Tangible Canonical Operational Architecture

Reasoning over Information about Goals

Types of Architectures

System Architectures Provide...

What are the Subsystems in a System Architecture?

Describing Systems Architectures in Al Robotics

Al Primitives within an Agent

Hierarchical (1967)

Hierarchical Paradigm for Operational Architectures

Hierarchical Paradigm: Sequence of 3 Primitives