Mister maker makes a robot


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Friday March 11 th, was a bad day for Japan. A great tsunami was triggered with maximum wave height believed to be Hundreds of kilometers of the coastal region was devastated with almost 16, deaths, over 2, people missing, and three quarters of a million buildings either collapsed, partially collapsed, or were severely damaged.

The following week things got worse. Japan has been forever changed by what happened in March and April of that year. A little before 8am on Friday April 25 th, I met up with a small number of robotics researchers from the United States in the Ueno train station in Tokyo. It was a somber rendezvous, but I did not yet realize the sobering emotions I would feel later in the day.

Science fiction days for me are days where I get to experience for real something that heretofore most people have only ever experienced by watching a movie. A little later in the afternoon, to hearty cheers, the Sojourner robot rover deployed onto the surface of Mars, the first mobile ambassador from Earth.

The day of the landing was a great science fiction day, and it was related to the one I was about to experience almost seventeen years later.

Really though, April 25 thwas for me two science fiction days rolled into one. Both of them were dystopian. The group that formed up in Ueno station was lead by Gill Pratt. Gill had been a faculty member in the M. Artificial Intelligence Laboratory when I had been its director in the late s.

Now things started to get a little surreal. League is the Japan Professional Football League, and the J-village was, until the earthquake and tsunami, the central training facility for that league, with multiple soccer pitches, living quarters, a gym, swimming pool, and large administrative buildings. Now three of the pitches were covered in cars, commuter lots for clean up crews. Trucks and minibuses coming from the north were getting scanned for radiation, while all northbound traffic had to go through security gates from the soccer facility.

The J-village was now the headquarters of the operation to deal with the radiation released from the Fukushima Daiichi nuclear power plant, when the tsunami had hit it, ultimately leading to three of its six reactors melting down. The J-village was right on the border of a 20 kilometer radius exclusion zone established around that plant, and was being operated by TEPCO, the Tokyo Electric Power Company which owned Fukushima Daiichi, along with Fukushima Daini, also in the exclusion zone, whose four reactors were able to be shut down safely without significant damage.

Inside the main building the walls signaled professional soccer, decorated with three meter high images of Japanese stars of the game. But everything else looked makeshift and temporary. We were met by executives from TEPCO and received our first apology from them for their failures at Daiichi right after the tsunami. We would receive more apologies during the day. This was clearly a ritual for all visitors as none of use felt we were owed any sort of apology.

As had happened the day before in a meeting with a government minister, and again rather embarrassingly, I was singled out for special thanks. After Colin Angle and I had helped get the small rover program at JPL going, where it was led by David Miller and Rajiv Desai, we got impatient about getting robots to other places in the solar system. By our company had been renamed to be iRobot, and on the morning of September 11 of that year we got a call to send robots to ground zero in New York City.

Those robots scoured nearby evacuated buildings for any injured survivors that might still be trapped inside. That led the way for our Packbot robots to be deployed in the thousands in Afghanistan and Iraq searching for nuclear materials in radioactive environments, and dealing with road side bombs by the tens of thousands. By we had almost ten years of operational experience with thousands of robots in harsh war time conditions.

A week after the tsunami, on March 18 thwhen I was still on the board of iRobot, we got word that perhaps our robots could be helpful at Fukushima. We rushed six robots to Japan, donating them, and not worrying about ever getting reimbursed—we knew the robots were on a one way trip. Once they were sent into the reactor buildings they would be too contaminated to ever come back to us. We sent people from iRobot to train TEPCO staff on how to use the robots, and they were soon deployed even before the reactors had all been shut down.

The oldest of the reactors had been operating for 40 years, and the others shared the same design. None of them had digital monitoring installed, so as they overheated and explosions occurred and they released high levels of radiation there was no way to know what was going on inside the reactor buildings. The four smaller robots that iRobot sent, the Packbotwieighing 18kg 40 pounds each with a long arm, were able to open access doors, enter, and send back images.

Sometimes they needed to work in pairs so that the one furtherest away from the human operators could send back signals via an intermediate robot acting as a wifi relay.

The robots were able to send images of analog dials so that the operators could read pressures in certain systems, they were able to send images of pipes to show which ones were still intact, and they were able to send back radiation levels.

The two bigger brothers, both were the model, weighing kg pounds with a lifting capacity of kg pounds where used to operate an industrial vacuum cleaner, move debris, and cut through fences so that other specialized robots could access particular work sites.

Japan has been consistently grateful for that help; we were glad that our technology could be helpful in such a dire situation. Inat the J-village, after a briefing on what was to come for us visitors, we were issued with dosimeters and we put on disposable outer garments to catch any radioactive particles.

We then entered a highly instrumented minibus, sealed from unfiltered external air circulation, and headed north on the Rikuzenhama Highway. The first few villages we saw were deserted but looked well kept up. Further in to the zone everything started to look abandoned. After we passed the Fukushima Daini plant which we could see in the distance, we got off the highway and headed down into the town of Tomioka.

The train station, quite close to the coast had been washed away, with just the platform remaining, and a single toilet sitting by itself still attached to the plumbing below. At one point we had to go around a car upside down on its roof in the middle of the road.

Although it was three years after the event, Tomioka was frozen in time, just as it had been left by the tsunami. This was the first science fiction experience of the day. For all the world it looked like the set of a post-apocalyptic Hollywood movie. But this was a real post-apocalyptic location. Back on the highway we continued north to the Fukushima Daiichi plant for science fiction experience number two. There are about six thousand people who work at the site cleaning up the damage to the power plant from the tsunami.

Only a much smaller number are there on any given day, as continued exposure to the radiation levels is not allowed. We entered a number of buildings higher up the hill than the four reactors that were directly hit by the tsunami.

All of them had makeshift piping for air, a look of temporary emergency setups, and all inside were wearing light protective garments as were we.

Those who were outside had much more substantial protective clothing, including filtered breathing masks. Most times as we transitioned into and out of buildings we had to go through elaborate security gates where we entered machines that scanned us for radiation in case we had gotten some radioactive debris attached to us.

Eventually we got to a control center, really just a few tables with lap tops on them, where the iRobot robots were still being operated from. We watched remotely as one was inside one of the reactor buildings measuring radiation levels—in some cases levels so high that a person could only spend just a few minutes per year in such an area.

Outside we drove around in our sealed bus. We saw where the undamaged fuel rods that had been inside the reactor buildings, but not inside the reactors, were being brought for temporary storage. That task was expected to be completed by the end of this decade.

We saw almost at that time 1, storage tanks, each with about 1, tons of contaminated ground water that came down the hill during rainfall and then would be contaminated as it seeped through the ground around the reactor buildings. We saw where they were trying to freeze the ground down to many meters in depth to stop water flowing underground from the hill to the reactor buildings.

We saw where along the ocean side of the reactor buildings workers had installed a steel wall from interlocking pylons driven into the seabed, holding back the ocean but more importantly stopping any ground water from leaking into the ocean. Everywhere were people in white protective suits with breathing equipment, working for short periods of time and then being cycled out so that their radiation exposure levels were not unsafe. Eventually we drove down to right near reactor number four, and saw the multi-hundred ton superstructure that had been installed over the building by remotely operated cranes so that the undamaged fuel rods could be lifted out of the damaged water pools where they were normally stored.

We wanted to stay a little longer but the radiation level was creeping up, so soon it was decided that we should get out of there. And finally we received a briefing about the research plans on how to develop new robots that starting around the year would be able to begin the decades long clean up the three melted down reactors.

Robots were essential to the shutdown of Fukushima Daiichi, and will be for the next thirty or more years as the cleanup continues. The robots that iRobot sent were controlled by operators who looked at images sent back to decide where they should go, whether they should try to climb a pile of debris or not, and give the robots detailed instructions on how to handle unique door handles. But the robots we sent to Fukushima were not just remote control machines.

This does not sound much like sexy advanced AI, and indeed it is not so advanced compared to what clever videos from corporate research labs appear to show, or painstakingly crafted edge-of-just-possible demonstrations from academic research labs are able to do when things all work as planned. But simple and un-sexy is the nature of the sort of AI we can currently put on robots in real, messy, operational environments.

What about all those wonderful robots we have seen over the years, in the press, the ones that look like Albert Einstein, or the humanoids that have been brought into science museums around the United States for shows, or the ones we see brought out whenever a US President visits Japan 4. You have seen them. Like the humanoid ones that walk on two legs, though with bended knees, which does look a little weird, turning to the audience and talking from behind a dark glass visor, sometimes seeming to interact with people, taking things from them, handing things to them, chatting, etc.

They are all fake! Fake in the sense that though they are presented as autonomous they are not. They are operated by a team of usually six people, off stage. And everything on stage has been placed with precision, down to the millimeter. I have appeared on stage before those robots many times and been warned not to walk near or touch or any of the props, for example staircases, as that will make the robot failand when it does fail it is not aware that it has.

Corporate marketing robots had no chance at all of helping in Fukushima. Robotics, including self driving cars, is where Artificial Intelligence AI collides with the un-sanitized natural world.

Up until now the natural world has been winning, and will probably continue to do so most of the time for quite some time. We expect our car to start every morning and for the wheels to drive it forward when we push down on the gas pedal. We expect the plane that we board to both take off and land safely, even if, through experience, we tolerate it being late.

We expect the internet to provide the web pages we go to on our smart phones. We expect our refrigerators and microwave ovens to work every day so that we can eat and survive. Us humans do this all the time for small children and for the very elderly.

We are wired to be accommodating to other intelligences that we think of as less than us. Most of our AI technology is very much less than us, so we accommodate. The demands of having robots interact with the un-sanitized natural world cancel that free pass. The natural world usually does not care that it is a robot rather than a person, and so the natural world is not accommodating.

In my opinion there is a mismatch between what is popularly believed about AI and robotics, and what the reality is for the next few decades.

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