Focus: To cause light rays to converge on or towards a central point. To render an object or image in clear outline of sharp detail by adjust ones vision or an optical device.
Auto focus: camera automatically focuses and locks on a part of a scene which it considers to be important
Manual focus: the photographer physically controls the focus
AF-S: good for single shots where the subject is stationary
Auto focus struggles to pick up a flat scene that does not have any significant lines or variants in tone