) وذلك ب التظليل الك امل ب القلم الرص اص ام ام اإلختي ار المناسبB ubble She e t( أجب عن األسئلة الت الية ب الورقة
المخصصة لذلك
Question I: Choose the correct answer from the following:
1) is the name of information sent from robot sensors to robot controllers?
a) temperature b) pressure c) feedback d) signal
2) is an actuator
(a) IR (b) Motors (c)PID (d)Sonar
3) Universal joints have DOF
(a)1 (b)2 (c) 3 (d)4
4) prismatic joints have constraints
(a)5 (b)4 (c) 3 (d)2
5)is important for defining the possible positions and orientations a robot can reach
(a)Joints (b)DOF (c)Links (d)Base
6) In ant colony algorithm, if the number of ants ------- the performance of the algorithm
increases.
(a) Increases (b) decreases (c) constant (d) Zero
7) algorithm is used for finding a robot shortest path
(a)IR (b) PID (c)reinforcement learning (d)a and b
8) If you use ant colony algorithm for getting a robot shortest path and there are 5 paths. What is
the best number of ants you choose to apply the algorithm to find shortest path in low time?
(a) 5ants (b) 10ants (c)20ants (d)40 ants
9) With self-driving cars the controller type is ----- controller
(a) Open loop (b) feedforward (c) (c)closed loop (d) for loop
Imagine the following scenario. You have a robot in a maze-like environment in figure1 The
.goal of the robot is to compute the shortest path to reach the exit door
10) what is the type of robot?
(a) Mobile robot (b) leg robot (c) a and b (d)none
11) What is the best number of ants if robot used ant colony algorithm for finding shortest path.
(b) 2 ants (b) 10 ants (c)15 ants (d)50 ants
Figure 1
12) Why we need to process Images?
(a) For image quality (b) for analyses (c) for recognition (d)all
1136) 7A05p8 oint p=(4,3,2) is attached to a r , the frame rotates 30 degree about the OX
axis of the reference frame. Find the coordinates of the point relative to the reference frame
after the rotation
Figure 2
a) [4 -2.5981 3.2321]T
b) [34 1.5981 3.2321]
c) [4 2.981 2.0273]T
d) [4 -0.2321 3.5981]
1
14) The basic aspects of the robotics to create a robot are :
(a) Electrical/electronic components (b) Mechanical equipment
(c) Computer programs (d) all
15) Name the basic unit of a robot which can be programmed to give instructions to the robot
is -------
(a) Sensor (b) actuator (c) controller (d) physical body
16) involves a mechanical device that can imitate the actions of people or
animals.
A. Automation B. simple machines C. Robot D. Automobile
17) involves the design, construction, and operation of a robot.
A. Robotics B. Automation C. Assembly line D. Manufacturing
18) A is a machine that performs complicated tasks and is guided
by automatic controls.
A. Robot B. Cyborg C. Tank D. TV
19) Robots can be used for...
A. Precision work B. Exploration
C. Repetitive or dangerous work D. All of the above
20) Which of the basic parts of a robot unit would include the computer circuitry that
could be programmed to determine what the robot would do?
a) sensor b) controller c) arm d) end effector
e) drive
21) The number of moveable joints in the base, the arm, and the end effectors of the robot
determines ?
a) degrees of freedom b) payload capacity
c) operational limits d) flexibility
) cost
22) is not one of the basic parts of a robot?
a) peripheral tools b) end effectors
c) controller e) sensor
23) Which of the following statements is true?
a. All robots are not intelligent
b. All robots act like humans
c. All robots are controlled remotely
d. All robots are electromechanical machines using electronic programming
24) is the part of the robot provides motion to the end effector?
(a) PDI (b) sensor (c) controller (d) actuator
25) is a temperature sensor.
(a) GBS (b) IMU (c) LM53 (d) OA44
26 ) is a light sensor.
(a) IMU (b) amplifier (c)mic d) Photoresistor)
27) sensors can produce extremely accurate pitch and roll measurements in a variety of
applications
(a) LM (b) contact (c) tilt (d) current
28) is used for taking a decision in robot
(a) Computer vision system (b) pattern recognition system
(c) end effector (d)joint
29) If the robot has 3 gears A, B, and C. The motor is connected to gear A. as shown in the figure
3, the speed of gear C will be
2
A) more than the speed of gear A and B B) less than the speed of gear A and B
C) equal to the speed of gear A D) equal to the speed of gear B
Figure 3
30) According to figure 3. The torque on gear C will be
A) more than the torque on gear A and B B)less than the torque on gear A and B
C) equal to the torque on gear A D) equal to the torque on gear B
31) is used to measure a distance
A) Ultrasonic Sensors B) IR C) Laser range Sensor D) all
32) is an application of computer vision
A) Classification B) object detection C) tracking D) all
33) Designers can use for decreasing mobile robot oscillation
A) Actuator B) IR sensors C) PD controller D) ultrasonic
34) is one of the components of robot decision making
A)computer vision B)pattern recognition C) feature extraction D) all
35) There are two different perspectives on computer vision:
) acquisition /vision B2)0i2m
2/ a
2 0g2e3 understanding/Active visio
2 0n2
C)image representation/acquisition C)segmentation/object detector
Question II: Choose True (T) or False (F) for the following:
1- Active actuation means the robot do not uses any actuator for moving F
2- micro-scale robots uses motors as actuator T
3- In open loop controller we need to measure error for improving the system F
4- The goal of computer vision is to understand the scene or features in images of the real world T
5- A robot is an autonomous system which exists in the computer world. It can sense its
environment and can act on it to achieve some goals. F
6- The main goal of PD controller is maximizing error F
7- Performance of open loop controller is higher than the closed loop controller in known and
static environment F
8- In Closed loop controller the system executes the command that is given, based on what was
predicted F
controller is the best choose for es F
10- Path-planning leads mobile robot for find shortest path between two points. optimal paths can
minimize the number of turning. robots can use maps for finding a path or does not use map. T
11- PD controller uses the integration process to compute the error F
12- We can manipulate the a mount of force by combining gears T
13- When different gears are combined, there is no an effect on the output speed F
14- Gears are used to alter the output torque of a motor T
15- The torque generated at the output gear is proportional to the torque on the input gear T
16- Robot can use GPS indoors and outdoors T
17- To detect robot position, kinematics equations are used T
3
18- To detect robot force and torque kinematics equations are used F
19- PID controller applies differential and integral operation to compute the gain F
20- PD controller applies differential operation to compute the error T
21- Robots in known environment need maps to get shortest paths and understand its environment. F
22- The main goal of using computer vision in robotics is enhancing image quality only F
23- Amplifier is important for mic sensor T
24- Robot kinematics is essential for describing an end-effectors T
25- Engineers use dynamics model in order to control the robot system T
