ELEC5530
11/14/11
Arthur Duncan, Russell Durham, Philip Reiner
Team 11
Exam Questions:
1. What is the name of Carnegie Mellon University’s voice recognition software?
a. Pharaoh
b. Ra
c. Sphinx
d. Pyramid
The voice recognition software developed by Carnegie Mellon University is called
Sphinx. In our project, we use Sphinx-4; however, CMU has developed several
variations of the Sphinx toolkit for more advance applications.
2. One of the disadvantages of a four wheel differential drive robot is:
a. It is impossible for the robot to rotate perfectly around its center.
b. In order for the robot to turn, wheel slip is required.
c. Having four independent wheels means that the robot is harder to control.
d. All of the above
All of the above choices are disadvantages of having four wheels on a differential
drive robot. The robot cannot rotate perfectly around its center unless there is a
significant amount of wheel slip. This also relates to answer two. The wheels must
slip a little bit in order for the robot to turn. The last choice is true because having
four wheels requires that the robot have the hardware and software to control all four
wheels independently.
Group 12: Stephen Taylor, Allen Bell, Will Abell ELEC 5530 Date: 11/14/2011 Final Exam Questions 1. What is a photovore? Answer: A photovore is a light chasing robot. 2. In Group 12’s project, how many wheels did the photovore robot have? a. 1 b. 2 c. 5 d. 6 1) What are the two major problems that one faces using ultrasonic sonar sensors (ping sensors). a. They can’t detect objects in the dark, and they are hard to interface with microcontrollers. b. High beam width and specularity. c. They are expensive, and they require a lot of computational power. d. They are extremely large and cannot be used in weight‐sensitive applications. 2) What does an ultrasonic sensor use to find distance? a. Lasers b. A ruler c. Sound waves d. GPS Answers: 1) B High beam width of ultrasonic sensors makes it difficult to determine the exact location of detected objects. Additionally, the specularity of sound waves makes detecting planar objects at low angles of incidence almost impossible. None of the other choices represent problems of sonar at all. 2) C The ultrasonic sensor uses high frequency sound waves to detect objects. By sending a burst of sound at a target and waiting for a reflection (echo), the distance to the object can be determined by the time of flight (TOF) of the sound burst. Exam questions from group 14 1. Which of these is not a viable form of internal spherical robotic locomotion discussed in the presentation? a. Counter‐Pendulum b. Gyroscope c. Hamster movement d. Internal rotor 2. Which of these is not an advantage of using solenoids to control spherical locomotion? a. Low power consumption b. Robot can stop sooner c. Robot has the ability to jump d. Allows for greater control of movement The answer for number 1 is c. The Hamster would not be able to control the robot to the degree you need it to along with you having to spend hours training them. They would also be very inefficient on converting their power source and would need to take breaks. The answer for number 2 is a. Depending on what types of solenoids you use, and their efficiencies, they can pull a lot of current from your power source. ELEC 5530 Questions Team 15 Blake Bright Matt Curl Michael Elswick 1. What does SONAR stand for? a. Signal Orienting Navigation and Ranging b. Sound Orienting Navigation and Reflection c. Sound Navigation And Ranging d. Signal Outsourcing New Area Reflection The correct answer is C. The term SONAR stands for SOund Navigation and Ranging. 2. What are the two types of sonar? a. Active and reflective b. Active and passive c. Reflective and passive d. Active and submissive The correct answer is B. There are only two types of sonar which are active and passive sonar. Active sonar systems send sound signals and receive the echoed sound waves. Passive sonar systems just receive the echoed sound waves. Question #1: What does the acronym AUV stand for? A.)
B.)
C.)
D.)
Autonomous Underwater Vehicle Automatic Underwater Vehicle Autonomous Underwater Vessel Automatic Unmanned Vehicle A.)*Underwater mobile robots are also called Autonomous Underwater Vehicles Question #2: Which coordinate system corresponds to the AUV itself? A.)
B.)
C.)
D.)
Vehicle coordinate system Global coordinate system Vessel coordinate system Robot coordinate system A.)* The vehicle coordinate system 1. Which of the following is a distance sensor? a) SONAR b) Infrared c) Radar d) Ultrasonic e) All of the above Answer: e) All of the above 2. For a short‐sighted robot using infrared detectors, which of the following resistor values would work the best in the emitter circuit? a) 1000 ohm b) 750 ohm c) 500 ohm d) 2000 ohm e) 1200 ohm Answer: d) 2000 ohm Questions:
1‐)Whichofthefollowingisacorrectstatement?
‐
‐
‐
‐
TheManhattanmethodcalculatesthetotalverticalandhorizontaldistance
betweenthecurrentcellanddestination,ignoringobstacles,discardingany
diagonalmovement.
A*Algorithmcalculatesthecostsofeachsolutiontofindanoptimalsolution
withminimalcost.
H(Heuristic)functionestimatesthecostfromthecurrentpointotthe
destination.
Allofthem(CorrectAnswer)
2‐)“TheprincipleoftheA algorithmistoexpandeachpossiblenodefromstartto
destinationandcomparethecostofeachpath.“
‐True
‐False
Team 22 Siwei Wang, Xi Li, Xin Yu Questions 1. Which algorithm or technique is used in Alternating Algorithm? A． Randomized Linear Algorithm B． Dubins Path C． ETSP D． Genetic Algorithm AA connects the optimal ordered waypoints by straight lines, after which the odd‐numbered edges along with respective orientations are retained; the even‐numbered edges are replaced by the Dubins paths. 2. What is the strategy to solve Travelling Salesman Problem in our project? A. Calculate the total distance of every possible path, find the shortest one. B. NN ( Nearest Neighbor ) algorithm C. ACO( Ant Colony Optimization) D. GA ( Genetic Algorithm) All of the methods mentioned above can solve Travelling Salesman Problem, However, the only approach we have used in our project which is an efficient algorithm, is genetic algorithm. 1. What is the definition of biomimetics? a. The study of the structure and function of mechanical systems for the design of materials and machines. b. The study of the structure and function of biological systems for the design of materials and machines. c. The study of genes and heredity. d. The study of robotic locomotion. 2. Which one of these is not used as an artificial muscle? a. Electroactive Polymer b. RCM c. Shape Memory Alloy d. Punnett Square 1. The central idea behind Time of Flight cameras is
a) Motion of an object is regarded as cue for the shape of the object and the spatial
trajectories of points are used to estimate the dimensions.
b) Distance based on speed of light- points that are distant from the camera will take
greater time to reach it.
c) The image and the data from the laser range finders corresponding to the same time
has to be overlapped to obtain a 3D vision
d) None
Correct Answer: b
Explanation: Option ‘a’ is for the Kinetic Depth Technique or the Structure from Motion
Technique.
Option ‘c’ is for the Stereo Vision technique
2. Given a particular situation, which of these 3D image detection techniques require the
least amount of computing power?
a) Time of Flight Cameras
b) Stereo Vision
c) Kinetic Depth
d) All three techniques require the same computational power.
Correct Answer: a
Explanation: In Stereo Vision, the image and the data from the laser range finders
corresponding to the same time has to be overlapped to obtain a 3D vision. In Kinetic
depth technique, the image of the same object has to be taken at two different time
intervals- either ways, both techniques require data fusion which requires computing
power.
In contrast to all these models, the time of flight cameras combine the features of active
range sensors and camera based approaches and provide a complex image which contains
both the intensities and also the distances of each and every point. Also, there is no fusion
of data from two separate sources and the data is being gathered continuously, therefore it
needs much lesser computing power than other techniques.
Possible questions on our paper:
1. How does odometery model work:
Once the mathematical model is formed, the robot will calculate the variances on position
(x and y values typically) and the orientation of the robot (theta) regularly. Typically, we
are taking the random error to be Gaussian in nature, so finding the variance means,
having a confidence level on where the robot is. For example: if variance in x direction is
small, that means the probability density function of x is almost looks like a delta
function. Thus, the robot is confident that the odometer measurementis its true location.
If variance is high, that means the robot probability of being at the position where the
encoder is telling it is almost equal to the probability of being further away.
2. What do we do with systematic errors
Usually, systematic errors are calibrated, so they are not much of a concern. Some
models, such as the one by Agostino Martinellli, have the ability to account for
systematic errors, but usually systematic errors are correct before the robot is deployed.
Any systematic error that is not taken care of by calibration will be handled by the model.
Questions:
1.What does the acronym MPC stand for?
a)Mobile Platform Control
b)Model Predictive Control
c)Multi-Purpose Control
d)Mechanical Performance Control
2.What category of local controller was used on the autonomous lawnmower
a)Point Stabilized
b)Coverage
c)Trajectory Follower
d)Path Follower
Questions:
1. What does the term Boustrophedon mean?
a. A three dimensional sensor capable of seeing great distances.
b. An algorithm that finds the longest path between two points.
c. A type of path that can be used for coverage planning that means "ox-turning"
or "the way of the ox"
d. A type of locomotion system that works like a four legged animal, like an ox.
2. What is Stage?
a. A 3D data visualization program.
b. A 2D robot simulator that simulates kinematics but not dynamics.
c. A theatrical play where robots maneuver around on a stage.
d. A 2D robot simulator that simulates kinematics and dynamics.