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SMART ROBOTS�CAMP

OAK RIDGE COMPUTER SCIENCE GIRLS

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ORCSGirls

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ORCSGirls

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RULES

  • Treat each other, the volunteers and the facilities with respect.
  • Raise your hand if you have a question or want to answer.
  • Only visit the websites needed for the class project.
  • Always follow instructions by volunteers.
  • Wait in the room until you are picked up at the end of the day.
  • Be gentle with the robots!
  • Help each other.
  • Enjoy!

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Introductions

Welcome to our online class.

Today’s instructor and volunteers

Thomas Proffen

Katie Schuman

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Addison Malone

Amelie Nagle

Grace Feng

Yvonne Dalschen

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GETTING TO KNOW EACH OTHER�BINGO

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Schedule

Monday

Tuesday

Wednesday

Thursday

Introduction to Python

JupyterLab and Widgets

Machine Learning

Katie Schuman

Project: Object detection

Project: Road following

Lunch

Lunch

Lunch

Lunch

Getting to know JetBot

JetBot Remote Control

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Project: Collision Avoidance

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Project: Object detection

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Project: Road following cont.

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Parent Showcase

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This is an Advanced Camp

Things to remember

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  • You got this!
  • Do not give up if somethings seems hard in the beginning.
  • Ask questions.
  • All of us ‘google’ things all the time.
  • Nobody writes code that works right away.
  • Debugging can be frustrating, but it is super sweet if things work in the end.
  • We have a flexible schedule.
  • Have fun!

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Introduction to Python

Day 1 - Morning

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WHAT IS PYTHON?

  • Python is an interpretive programming language.
  • Python was created by Guido van Rossum in 1989.
  • Named after his love for the comedy series Monty Python’s Flying Circus – not the snake.
  • Benefits
    • Easy to learn.
    • Free to use and open source.
    • Portable, extensible, and embeddable.
    • Object oriented language.
  • Fastest growing programming language.

Source: Wikipedia

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WHAT ARE JUPYTER NOTEBOOKS?

The Jupyter Notebook is an open-source web application that allows you to create and share documents that contain live code, equations, visualizations and narrative text.

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www.jupyter.org

Analyzing neutron scattering data at ORNL using Jupyter notebooks.

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Jupyter Lab

ls

Lists all files and directories - ls -l

mv

Move file - mv file1 file2

cd

Change directory - cd dir, cd ..

sudo <cmd>

Run command <cmd> as administrator

pwd

Show current working directory

shutdown

Shut down Pi - sudo shutdown now

mkdir

Make new directory - mkdir newdir

cat

Show content of text file - cat file

cp

Copy file - cp file1 file2

top

Show running processes (use ‘q’ to exit)

Files

New Python Notebook

Open terminal

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Activity

Open a browser and visit

https://jupyter.orcsgirls.org

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Username:

Your first name, all lower case

Password:

First login you set your password. Do not forget it :)

Python introduction

Objects in Python

Using Widgets

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Getting to know JetBot

Day 1 - Afternoon

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Pair Programming

Two girls

One laptop

One robot

Unstoppable

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Driver

  • Write the code according to the navigator's specification
  • Listen intently to the navigators instructions
  • Ask questions wherever there is a lack of clarity
  • Offer alternative solutions if you disagree with the navigator
  • If there is disagreement, defer to navigator. If idea fails, get to failure quickly and move on
  • Make sure code is clean
  • Own the computer / keyboard
  • Ignore larger issues and focus on the task at hand
  • Trust the navigator - ultimately the navigator has the final say in what is written
  • You are writing the code

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Navigator

  • Dictates the code that is to be written - the 'what'
  • Clearly communicates what code to write
  • Explains 'why' they have chosen the particular solution to this problem
  • Check for syntax / type errors as the Driver drives
  • Be the safety net for the driver
  • Make sure that the driver sticks to the small task at hand
  • Outline and note down high level tasks / issues
  • Ongoing code review
  • Pay attention
  • Wait until the task is complete to bring up design / refactoring issues

Responsible for robot safety!

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Both

  • Actively take part in programming
  • Aim for optimal flow - avoid trying to be 'right'
  • Embrace your role
  • Intervene if your pair is quiet
  • Know when to give up / steal keyboard
  • Communicate, communicate, COMMUNICATE!
  • Don't hog the keyboard
  • High-five every time something works high
  • Swap roles frequently

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Robot rules

  • Do not push the robot
  • Do not move the antennas
  • Careful with the cable going to the camera
  • Use proper shutdown before powering off
  • Careful with the fan
  • Do not lose the camera cap
  • The navigator is responsible for robot safety when notebooks are executed and the robot might move.

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Robot Time!

  • Pair up
  • Check the number on your robot
  • Turn on the robot and wait until the IP address shows on the little screen
  • Connect the laptop for the WiFi named ORCSGirls
  • In a web browser visit jetbotX.local:8888 (X is the number of your jetbot)

Make sure you connect to your robot!

Caution - robot will move when running commands in the notebook!

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Project: Movement

Part 1: basic_motion

  • Follow along
  • Read comments
  • Caution - Robot might move

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Part II: teleoperation

  • Batteries in controller
  • Controller dongle goes into laptop
  • Switch mode
  • Follow along
  • Read comments

Press at the same time to change mode.

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Machine Learning

Day 2 - Afternoon

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TRADITIONAL PROGRAMMING

Traditional code for “Is this picture a pig?”

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if (isPink(picture) and hasTail(picture) and hasPointedEars(picture) and hasFourLegs(picture) and …) � print “Yes!”

else � print “No!”

Rules for

“Is this picture a pig?”

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Is it pink?

Does it have a tail?

Pointed ears?

Four legs?

And so on...

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Yes, even in Oak Ridge

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HOW DO YOU DECIDE

WHAT THE RULES ARE?

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YOU DON’T!

LET THE COMPUTER DO IT WITH

MACHINE LEARNING!

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MACHINE LEARNING

A machine learning method takes a bunch of data and “learns” from it!

Label: Pig

Label: Not a pig

Label: Pig

Label: Not a pig

Machine

Learning

Method

Machine’s rules for determining whether or not an image is a pig

Data

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WHAT’S THE DIFFERENCE BETWEEN MEMORIZING AND LEARNING?

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DID IT “LEARN” SOMETHING?

Label: Pig

Label: Not a pig

Training Data

The data we give to the machine learning method to learn from

Testing Data

The data we hold out and use to check to see if the method actually learned something!

Label: Pig

Label: Not a pig

Label: Pig

Label: Not a pig

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WHERE IS ML USED?

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WHY DOES IT WORK NOW?

Lots of Data

Powerful Computers

  • 350 million new photos to Facebook every day
  • 300 hours of video uploaded to YouTube every minute
  • 500 million Tweets every day

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  • Computers are faster and bigger than ever!

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NEURAL NETWORKS

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NEURAL NETWORK EXPLANATION

30

50

70

2

-1

1

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NEURAL NETWORK EXPLANATION

30

50

70

2

-1

1

30*2

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NEURAL NETWORK EXPLANATION

30

50

70

2

-1

1

30*2 + 50*(-1)

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NEURAL NETWORK EXPLANATION

30

50

70

2

-1

1

30*2 + 50*(-1) +70*1 = 80

80

if number > 0

send number

else

send 0

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NEURAL NETWORK EXPLANATION

-30

30

70

2

-1

1

-30*2 + 30*(-1) +70*1

= -20

0

if number > 0

send number

else

send 0

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NEURAL NETWORK EXPLANATION

-30

30

70

2

-1

1

-30*2 + 30*(-1) +70*1

= -20

0

if number > 0

send number

else

send 0

Weights

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NEURAL NETWORK EXPLANATION

  • “Backpropagation” is used to figure out what all of the weights should be!

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  • We start with a random guess, and feed the answer through the network, and see how far away it is from the right answer.

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  • Backpropagation uses the “error” to figure out how to change the weights so that the error gets smaller.

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Neural Network Explanation

0.3

0.7

Guessed

Answer

1

0

Correct

Answer

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Neural Network Explanation

0.3

0.7

Guessed

Answer

1

0

Correct

Answer

Update weights to get closer to the correct answer!

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Neural Network Explanation

Run a data example through

Update weights

Keep repeating until your answers on the training set are good enough!

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Human Neural Network Activity

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Lets try with https://playground.tensorflow.org/

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WHAT IS ALGORITHMIC BIAS?

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Self-Driving Cars

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Self-Driving Cars

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Self-Driving Cars

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Project:

Obstacle Avoidance

Day 2 - Afternoon

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Collision Avoidance

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Step 1 - Training Data Collection

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Collision Avoidance

Step 2

  • Training the network
  • Copy the data to jupyter.orcsgirls.org
  • Run the training notebook
  • Copy trained network back to robot

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Step 3

  • Run live_demo notebook on robot
  • Do not let it fall of the table

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Pair Programming

Two girls

One laptop

One robot

Unstoppable

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Robot Time!

  • Pair up
  • Check the number on your robot
  • Turn on the robot and wait until the IP address shows on the little screen
  • Connect the laptop for the WiFi named ORCSGirls
  • In a web browser visit jetbotX.local:8888 (X is the number of your jetbot)

Make sure you connect to your robot!

Caution - robot will move when running commands in the notebook!

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Project:

Object detection and following

Day 3

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Robot Time!

  • Pair up
  • Check the number on your robot
  • Turn on the robot and wait until the IP address shows on the little screen
  • Connect the laptop for the WiFi named ORCSGirls
  • In a web browser visit jetbotX.local:8888 (X is the number of your jetbot)

Make sure you connect to your robot!

Caution - robot will move when running commands in the notebook!

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Project:

Road following

Day 4

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Step 1 - Training Data Collection

Notebook

data_collection.ipynb

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Road follow

Step 2

  • Training the network
  • Copy the data to jupyter.orcsgirls.org
  • Run the training notebook
  • Copy trained network back to robot

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Step 3

  • Run live_demo notebook on robot
  • Keep your robot safe

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Pair Programming

Two girls

One laptop

One robot

Unstoppable

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Robot Time!

  • Pair up
  • Check the number on your robot
  • Turn on the robot and wait until the IP address shows on the little screen
  • Connect the laptop for the WiFi named ORCSGirls
  • In a web browser visit jetbotX.local:8888 (X is the number of your jetbot)

Make sure you connect to your robot!

Caution - robot will move when running commands in the notebook!

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Parent Showcase

Day 4

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THANK YOU SO MUCH FOR ATTENDING

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www.orcsgirls.org

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contact@orcsgirls.org

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Big thank you to our volunteers and sponsors.

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ORCSGirls

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ORCSGirls

Smart Robot Camp

Smart Robot Camp