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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.