Download Final Exam Study Guide_Robotics

Final Exam Study Guide
Define the following terms:
Intelligence – the ability to reason, learn and solve problems
Autonomy - the capacity of a rational individual to make an informed, un-coerced decision
Cognition - refers to mental processes, including solving problems, and making decisions
Robot - a mechanical or virtual intelligent agent that can perform tasks automatically or with
guidance
Sensor - a device that measures a physical quantity and converts it into a signal which can be
read by an observer or by an (today mostly electronic) instrument,
Motor - a machine designed to convert energy into useful mechanical motion
Actuator - a type of motor for moving or controlling a mechanism or system
Electricity - the science, engineering, technology and physical phenomena associated with the
presence and flow of electric charges
Voltage - the difference in electrical potential between two points in a circuit
Current – a flow of electric charge through a medium or conductor
Resistance - a measure of the degree to which an object opposes an electric current through it
electrical power – the rate at which electrical energy is transferred by a circuit
voltage drop – the reduction in voltage in passive elements of a circuit
EMF – (electromotive force) the external work expended per unit of charge to produce an
electric potential difference across two open-circuited terminals
Conductor – a material that allows the flow of an electrical charge
Insulator – a material that does not permit the flow of an electrical charge
electrical potential - the electric potential energy (measured in joules) of a charged particle at
that location divided by the charge (measured in coulombs) of the particle
transistor - a semiconductor device used to amplify and switch electronic signals and power
capacitor - electrical component used to store energy in an electric field.
Diode - a two-terminal electronic component with asymmetric transfer characteristic, with low
(ideally zero) resistance to current flow in one direction, and high (ideally infinite) resistance in
the other
Resistor - passive two-terminal electrical component that implements electrical resistance as a
circuit element. The current through a resistor is in direct proportion to the voltage across the
resistor's terminals.
short circuit - an electrical circuit that allows a current to travel along an unintended path, often
where essentially no (or a very low) electrical impedance is encountered.
Transducer - a device that converts one form of energy to another.
Analog - any continuous signal for which the time varying feature (variable) of the signal is a
representation of some other time varying quantity
Digital - a data technology that uses discrete (discontinuous) values
Load - a device connected to the output of a circuit that provides resistance, converting
electrical energy to other forms of energy
Ohm’s Law - the current through a conductor between two points is directly proportional to the
potential difference across the two points.
Rotor - the non-stationary part of an alternator or electric motor, operating with a stationary
element called the stator.
Stator – the stationary part of an electric motor, which interacts with the armature to create
motion
Inductance - inductance is that property of a circuit by which a change in current in the circuit
"induces" (creates) a voltage (electromotive force) in both the circuit itself (self-inductance) and
any nearby circuits
Armature – generally composed of a shaft surrounded by a conducting wire coil. In the
armature, an electromotive force is created by the relative motion of the armature and the field.
When the machine is acting as a motor, this EMF opposes the armature current, and the
armature converts electrical power to mechanical torque, and power, unless the machine is
stalled, and transfers it to the load via the shaft.
Braitenberg Vehicle - an agent that can autonomously move around. It has primitive sensors
(measuring some stimulus at a point) and wheels (each driven by its own motor) that function as
actuators or effectors. A sensor, in the simplest forms, is directly connected to an effector, so
that a sensed signal immediately produces a movement of the wheel. Depending on how
sensors and wheels are connected, the vehicle exhibits different behaviors (which can be goaloriented). This means that it appears to strive to achieve certain situations and to avoid others,
changing course when the situation changes,
For a given robotic device, select the systems used in each of the following 4 categories:
 communication systems
 control systems
 vision & sensor systems
 drive/motion/mobility systems
Be able to write/construct logical statements for a variety of processes & systems
Give at least 3 other logical equivalents for each of these logic states: Hi & Lo
1 – 0, On – Off, True - False
Write the logical IF THEN statement for the following systems;
(For systems where there are no alternatives, or where the system can have only two possible
states)
1. Light switch
IF(switch is ON) THEN (light is ON)
2. Alarm clock
IF(Time = 7am) THEN (alarm is ON)
3. Night light
IF(Sun is up) THEN (Light is OFF)
4. Thermostat
IF(Temp<72) THEN (Furnace is ON)
Write the logical IF THEN ELSE or IF THEN ELSE IF statement for the following systems;
(For systems that include at least one alternative choice or outcome to the primary or preferred
choice)
1. You really like Coke, but will drink Pepsi if there’s no Coke.
IF (Coke >0) THEN (Buy Coke) ELSE (Buy Pepsi)
2. Braitenberg Vehicle sensitive to brightness of ambient light
IF(Light is HI) THEN (Move fast) ELSE IF(Light is LO) THEN (Move slowly)
3. A robotic packaging line:
INPUT
(ADD 1
WIDGET)
COUNTER
<25
YES
CONTINUE
FILLING
BOX
NO
RELEASE
FILLED BOX
4. You’re filling a drinking glass with juice. (Be careful not to put too much in the glass!)
Explain the function/purpose of each of the following electrical/electronic components:
Transistor - used to amplify and switch electronic signals and power
Capacitor - used in electronic circuits for blocking direct current while allowing alternating
current to pass, in filter networks, for smoothing the output of power supplies, in the resonant
circuits that tune radios to particular frequencies, in electric power transmission systems for
stabilizing voltage and power flow
Battery – an electrochemical cell that converts stored chemical energy into electrical energy
Diode – used to allow an electric current to pass in one direction (called the diode's forward
direction), while blocking current in the opposite direction.
LED – a semiconductor light source
Resistor – provides a predictable, fixed quantity of electrical resistance in an electrical circuit
SCR - generally used in switching applications. In the normal "off" state, the
device restricts current to the leakage current. When the gate-to-cathode
voltage exceeds a certain threshold, the device turns "on" and conducts
current. The device will remain in the "on" state even after gate current is
removed so long as current through the device remains above the holding
current.
Identify each of the electronic/electrical components in various schematic diagrams:
Solve various equations for voltage, current, resistance and power using Ohm’s Law
Voltage Drop Calculations:
http://www.allaboutcircuits.com/vol_1/chpt_5/2.html#
A typical LED has a forward voltage rating of 2- 4VDC and max current of 20mA
Calculate the correct value for the current-limiting resistor required to protect the LED from
damage if the circuit is powered by a 9v battery.
Calculate the voltage drop across each load in a series circuit.
Label the parts of a brushed DC motor
How are electric motors rated in terms of output power? What does the rating system mean?
Electrical power is in general rated in Watts or Horsepower. A horsepower is a
unit of power equal to 746 watts or 33,000 lb.ft per minute (or 550 lb.ft per
second).
A watt is a unit of measure equal to the power produced by a current of 1 amp
across the potential difference of 1 volt. A watt is 1/746 of 1 horsepower.
Even if the watt is the base unit of electrical power, it’s common to rate motor
power in either horsepower or watts.
Power in Watts
Electric power of a motor can be expressed as:
Pw = η m V I
(1)
where
Pw = power (W, watt)
ηm = motor efficiency
V = voltage (V)
I = current (A, amps)
Power in Horsepower
Horse power of a motor can be expressed as:
Php = Pw / 746
(2)
or
Php = ηm V I / 746
(2b)
where
Php = horsepower (hp)
What type of sensor is used in the Line Following (Trail Follower) robot? Be SPECIFIC!!
Describe the function & purpose of various FisherTechnik sensors, actuators, subprograms and
programs
Be able to explain the function of the Mouse Car and Balloon Battle Bot control circuits
Be able to apply your knowledge of design, electronics, electrical theory, mechanics, motion,
measurement and programming to a theoretical design exercise modeling the development
process for an actual robot.