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Second Generation A second-generation robot has some level of artificial intelligence (AI), also called machine intelligence Such a machine is equipped with various sensors that keep it informed about goings-on in the work environment A computer called a robot controller processes the data from the sensors and adjusts the operation of the robot accordingly The earliest second-generation robots came into common use around 1980 Second-generation robots can stay synchronized with each other, without having to be overseen constantly by a human operator Periodic checking is needed, however, because things can always go wrong In fact, as a system becomes more complex, the number of ways in which it can malfunction increases This is why human beings will never find themselves out of work because of robots Someone has to make sure the robots keep working properly! Third Generation Nakano gave mention to third-generation robots, but in the years since the publication of his original paper, some things have changed Two major avenues are developing for advanced robot technology These are the autonomous robot and the insect robot An autonomous robot is a single machine that works on its own It contains a controller and can do things largely without supervision, either by an outside computer or by a human being A good example of this type of thirdgeneration robot is the personal robot about which technophiles dream An insect robot is one of a set of several (or many) identical units that act together to perform a specific task Fourth Generation and Beyond Nakano did not write about anything past the third generation of robots But we might mention a fourth-generation robot: a machine of a sort yet to be deployed An example is a fleet or population of robots that can reproduce themselves, and perhaps even a system that can evolve to meet changing conditions in its work environment Past that, we might say that a fifth-generation robot is something humans haven t even imagined yet Asimov s Three Laws In one of his early science-fiction stories, the famous author Isaac Asimov first mentioned the word robotics, along with three fundamental rules that, in his opinion, all robots ought to obey These rules were first coined in the 1940s, but Asimov s three laws of robotics are still considered valid today:.

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With the closed loop estimator poles (ie the eigenvalues of ( LH) and of ( o Lo Ho )) speci ed to be at 09 01j The observer gain matrices are Lo = [00187, 00013] and L = [01832, 00187]

First law: A robot must not injure, or allow the injury of, any human being Second law: A robot must obey all orders from humans, except orders that would contradict the first law Third law: A robot must protect itself, except when to do so would contradict the first law or the second law

Figure 36: State estimator simulation for Example 316 Top State estimation error versus time The solid line is x1 and the dashed line is x2 Bottom State and state estimates versus time The solid lines are the states and the dashed lines are the estimates

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The convergence of the resulting state estimator is shown in Figure 36 for the initial conditions x = [100, 10] and x = [00, 00] The top plot shows the estimation error with x1 as a solid line and x2 as a dashed line The bottom plot shows state (solid) and the estimated state (dashed) Both plots clearly show the convergence of the estimation error to zero The plots are shown as continuous lines, but the state estimates are actually only de ned at the sampling instants There are clearly a variety of tradeo s in the selection of the state estimation gain vector If L is small then the convergence will be slow, but measurement noise will have a small e ect on the state estimates Alternatively, when L is large convergence of the error will be rapid, but measurement noise will have a relatively large e ect on the state estimates When it is possible to propagate estimates of the accuracy of the state estimates and of the measurement accuracy, then it is interesting to consider

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A robot arm, in conjunction with an end effector (hand, gripper, or tool), is called a manipulator Some robots, especially industrial robots, are nothing more than sophisticated manipulators A robot arm can be categorized according to its geometry Some manipulators resemble human arms The joints in these machines can be given names like shoulder, elbow, and wrist Other manipulators are so much different from human arms that these names don t make sense

the time-varying gain vector that provides an optimal tradeo between the accuracy of the state and measurements, which is done in 5

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