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COLLEGE OF ENGINEERING

DEPARTMENT OF ELECTRICAL, ELECTRONICS AND COMPUTER


ENGINEERING
2018/2019, First Semester Examination
MCT 520: Mobile Robotics
INSTRUCTIONS: Answer Five (4) Questions only TIME ALLOWED: 2 hours

QUESTION 1
(a) Identify the key issues associated with locomotion of a mobile robot [6 marks]
(b) Discuss the advantages and disadvantages of one-legged mobile robot [5 marks]
(c) Calculate the possible number of effect required for a biped robot to exhibit locomotion
and outline its possible events [4 marks]

QUESTION 2
(a) List and briefly explain the major classes of wheel that are available. [4 marks]
(b) What are the likely tradeoff to be considered when designing a wheeled mobile robot
[7 marks]
(c) Compare adequately in terms of leg configuration and stability the locomotion principle
between Mammals and Insects [ 4 marks]
QUESTION 3
(a) Distinguish between rolling and sliding constraint [3 marks]
(b) Outline the major differences between mobile robot and manipulator robot kinematics
[5 marks]
𝜋
(c) A robot is located at point (2, 3) and 𝜃 = ⁄2, the robot’s velocity with respect to the
global reference frame is (0.5m/s, 0.2 m/s, 0). Find the robot’s velocity with respect to:
(i) local reference frame
(ii) global reference frame [7 marks]
QUESTION 4
(a) What are the likely assumptions associated with mobile robot kinematics [5 marks]
(b) Explain with the aid of a diagram the mechanism of movement and kinematic constraint
associated with a fixed standard wheel [7 marks]
(c) What are the advantages of a Swedish wheel over a standard wheel [3 marks]
QUESTION 5
(a) List and briefly explain any 5 classifications of sensors and give two examples of each.
[5 marks]
(b) Write short note on the following
(i) Resolution (ii) Dynamic range (iii) Error (Iv) Accuracy (v) Precision (vi) Linearity
[6 marks]
(c) A Kinect sensor record the height measurement of 15 male customers in inches, its
corresponding manual measurement was recorded the results is shown in Table 1.
Calculate the Error and Accuracy. [4 marks]

Table 1: True and Measured value of a Kinect sensor

Subjects 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
True 79 80 85 78 75 68 92 75 82 72 95 66 81 65 72
value (V)
Measured 80.5 82.5 86.5 79.2 77 68.5 93.1 77.3 82.5 73.5 96 67 85 66.5 73.4
value (M)

QUESTION 6
(a) With the aid of a well labelled diagram describe Hall effect and its application in the
design of Hall effect compass [7 marks]
(b) Describe the working principle of a global positioning system and indicate its application
in mobile robotics [5 marks]
(c) Distinguish between systematic and random error [3 marks]

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