G0023

Name ______________________________________________ Section _____________ Date

____________
General Instructions:
Read and understand each statement carefully.
Avoid unnecessary erasures. If you want to change your answer, enclose it in a parenthesis and
write your final answer on the space provided before each number.
Use black or blue pen only. Pencils are not allowed.
If you have questions, raise your hand and the exam proctor will attend to you.
IDENTIFICATION (20 Items x 2 Points Each)
Read and analyze each item.
1. Refers to feedback required to control the motors current speed. Loop Control
2. Called Piecewise constant controller. On/Off Controller
3. It is used mostly in combination with the P or PD controller to reduce the steady state error of the P
controller. Integral Controller
4. Most advanced and almost industry standard controller. PID
5. Most commonly used method for locomotion in mobile robots. DC
6. Comprises a disk equipped with various magnets and one or two Hall Effect sensors. Magnetic
Encoder
7. Typical power amplifier chip than contains two separate amplifiers. L293D
8. An operating system component that handles task switching. Scheduling
9. It is a state wherein a task is currently being executed. Running
10. It can be used for reacting external sensors. External Sensors
11. An event of an external interrupt signal will stop the currently executing task. Interrupt Service
Routine
12. A type of synchronization that is useful for embedded systems. Semaphores
13. It is crucial whenever two or more task exchange information blocks or share any resource.
Synchronization Scheme
14. It only needs to store the previous control value and the previous error value to calculate the output.
PI Controller
15. DC in DC Motor stands for. Direct Current
16. PID stands for. Proportional Integral Derivative Controller
17. It is done by measuring the motor speed at various settings. Motor Calibration
18. It has a fast response and suffers no steady state error. PID
19. It is an essential topic for embedded systems, bringing together actuators and sensors with the
control algorithm in software. Closed Loop Control
20. Also known as Bang Bang controller. On/Off Controller
ENUMERATION (20 Items x 2 Points Each)
1. Three Types of controller
a. Proportional
b. Integral
c. Derivative
2. Advantage of DC Motor
a. It is much smaller than using separate modules.
b. Dust proof system.
1st Term, SY 20152016
of STI
Pre Finals Examination

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G0023
Name ______________________________________________ Section _____________ Date
____________
c.

Shielded against stray light

3. Two (2) Principal ways of stopping motor

a. Set both x and y to Logic Zero
b. Set Speed to Zero
4. Three (3) Standard Synchronization Method
a. Semaphores
b. Monitors
c. Message passing
5. Three (3) States of Tasks
a. Ready
b. Blocked
c. Running
6. Two Types of Interrupts
a. External
b. Internal
7. Two (2) things to control the motor
a. Speed
b. Direction
8. Which controller eliminates steady state error?
a. Integral
b. Proportional
TRUE OR FALSE (10 Items x 2 Points Each)
Write TRUE if the statement is correct, if the statement is incorrect, underline the word that made the statement
incorrect then writes the correct replacement on the space provided before each number.

1. Derivative controller is a combination with the P or PI controller that speeds up the P controllers
response to a change of output. Input
2. DC is much difficult to control than pneumatic actuators. Easy
3. The way to implement an H Bridge when using microcontroller is to use a power amplifier chip in
combination with the digital output pins of the controller. True
4. PWM is known as Pulse Wide Modulation. Width
5. Motor Calibration is essentially important for robots with differential drive. True
6. A voltage is applied to the terminals of the motor, which generates current in the motor armature.
True
7. In almost every application of pre-emptive multi tasking, some synchronization scheme is not
needed. Needed
8. In ready task, a task is not ready for execution. Blocked
9. Timer Interrupts can be used for implementing periodically repeating tasks with fixed time frame.
True
1st Term, SY 20152016
of STI
Pre Finals Examination

*Property
Page 2 of

G0023
Name ______________________________________________ Section _____________ Date
____________
10. Pre-emptive multi tasking requires an explicit transfer of control. Not require

1st Term, SY 20152016

of STI
Pre Finals Examination

*Property
Page 3 of