2016 Possible Examination Questions. Robotics CSCE 574

Transcription

1 206 Possible Examinaion Quesions Roboics CSCE 574

2 ) Wha are he differences beween Hydraulic drive and Shape Memory Alloy drive? Name one applicaion in which each one of hem is appropriae. 2) Wha are he differences beween Hydraulic drive and Pneumaic drive? Name one applicaion in which each one of hem is appropriae. 3) Wha are he differences beween Hydraulic drive and Elecrical drive? Name one applicaion in which each one of hem is appropriae. 4) Wha are he differences beween Pneumaic drive and Shape Memory Alloy drive? Name one applicaion in which each one of hem is appropriae. 5) Wha are he differences beween Elecrical drive and Shape Memory Alloy drive? Name one applicaion in which each one of hem is appropriae. 6) Wha are he differences beween Pneumaic drive and Elecrical drive? Name one applicaion in which each one of hem is appropriae. 7) For a differenial drive robo, where he wheels are disance d apar and he wheel velociies are Vl and Vr. Esimae he linear velociy V and he angular velociy ω. 8) Wha are he differences beween opological and grid based maps? Name one applicaion in which each one of hem is appropriae. 9) Wha are he differences beween opological and feaure based maps? Name one applicaion in which each one of hem is appropriae. 0) Wha are he differences beween feaure and grid based maps? Name one applicaion in which each one of hem is appropriae. ) Define he erms exerocepive and propriocepive sensors. Provide wo examples for each. 2) Lis and compare hree differen range sensors in erms of ease of use, accuracy, compuaional cos, and energy cos.

3 3) Describe he Fronier based exploraion algorihm. 4) Discuss he dilemma beween exploiaion (localizaion) and exploraion of new erriory in any exploraion and mapping algorihm. In paricular, consider accuracy and efficiency. 5) Describe he Generalized Voronoi Graph (GVG) exploraion algorihm. Ouline he major seps: 6) For an oudoor robo, describe a leas 3 cos parameers affecing pah planning. 7) For an indoor robo, describe a leas 3 cos parameers affecing pah planning. 8) Wha is he difference beween Opical Flow and Scene Moion? 9) Describe wo differen ypes of inaccuracy ha can resul from using he sonar sensor. 20) Describe wo problems wih Euler angles for represening roaions in 3D: 2) Define and compare Global Localizaion and Tracking. 22) Define and compare Global Localizaion and Kidnapped Robo Problem. 23) Define and compare Kidnapped Robo Problem and Tracking. 24) For a Bayesian Filer: Bel( x ) p( x o, a, o, a 2,..., o0 ) where o are observaions a ime i and a i i are acions a ime i

4 Simplify he equaion using he Markov propery, he heorem of oal probabiliy and Bayes rule o ge o: 25) For a Kalman filer esimaor provide a small explanaion abou he following equaions: SH*P*H T R Where H is he measuremen funcion marix P he covariance marix before he updae and R is he sensors error covariance marix. 26) For a mobile robo whose esimaed moion is described by:. and is real moion is defined as: Derive he error: using small angle approximaion. 27) When using an indirec EKF he error in he sae of a mobile robo is described by he following equaion:. w w V y y w V x x V V δ ω φ φ φ δ φ δ ω ) ( ˆ ˆ ˆ sin ) ( ˆ ˆ ˆ cos ) ( ˆ ˆ Bel(x ) ηp(o x ) p(x x, a ) Bel(x )dx where: Bayes Rule : p(a b) p(b a)p(a) p(b) you can assume :η / p(o i a,,o 0 ) ˆ ~ x x x V y y V x x ω δ φ φ φ δ φ δ sin cos W G F X X ~ ~

5 . where W is zero mean Gaussian noise, and he covariance P is defined as: ~ X ~ X T P / E[ ] Derive he equaion of he covariance as a funcion of F and G 28) Consider a vehicle ravelling wih linear velociy v and angular velociy ω affeced by noise wv and w ω respecively. Therefore, he measured velociies are: v! ω! v! w! ω! w! The real pose of he vehicle is x[x,y,θ ] T ; and he esimaed pose is x x y θ T Provide he equaions for ime for he real pose: x!!! x!!! y!!! θ!!! and he esimaed pose: x!!! x!!! y!!! θ!!! as a funcion of he previous pose, he real velociies, and he noise. 29) One major componen of he Paricle Filer algorihm is resampling. Provide a brief descripion. Wha is he main goal of he resampling sep? 30) Provide a brief descripion of he Paricle Filer sae esimaion algorihm. Explain how he: Propagae, Updae, and Resampling seps work.

6 3) Define Simulaneous Localizaion and Mapping (SLAM) and explain wha are he main challenges: 32) Define he erms C- Space (configuraion), Free Space, Semi- Free Space, and C- Obsacle space. When are wo pahs homoopic? 33) Describe he differences beween he Probabilisic Roadmap (PRM) and he Rapidly Exploring Random Tree (RRT) pah planners: 34) Wha is he guiding principles behind: a) visibiliy graph and b) generalized Voronoi graph pah planning algorihms? Wha is he major difference beween he wo algorihms? 35) Wha is he difference beween deerminisic and random coverage algorihms? Give an example of an applicaion which each ype is more suied for and jusify your selecion. 36) For he Bug2 algorihm wha is he minimum se of sensors needed. 37) In a PID conroller wih gains Kp, Ki and Kd: describe which quaniy each one of hem is conrolling. Describe also he effecs of changing each gain. 38) Define he main idea behind poenial field pah planning. Wha is is main disadvanage? Describe he mos common echnique o overcome i: 39) For a wo- link manipulaor, wih wo revolue joins, each roaing [0,360] degrees, wha is he configuraion space. Draw a represenaion. 40) Define Opical Flow 4) Define he aperure problem 42) Wha is he baseline in a sereo camera? 43) Wha are he advanages/disadvanages of muli- robo sysems?

7 44) Describe wo differen sraegies for muli- robo formaion. 45) Define Marsupial Robos. 46) Describe he Aucion mechanism for ask disribuion in muli- robo sysems. 47) Wha is Cooperaive Localizaion? 48) Wha is a opological and wha is a opographical map? 49) Please perform he following marix muliplicaion: AB a b c d e f k m o l n p 50) Wha is he ieraive Kalman Filer?

8 5) In he SLAM experimen shown in he following image describe he reason for he difference in he locaion uncerainy beween he A and B landmark A B

9 52) Draw he Reeb graph and a plausible opimal order of cell coverage for he following environmen. Hin: Remember o double cerain edges. Sar posiion: op lef corner.

10 53) When a proporional conroller ries o follow he sep funcion (y: x<0.5; y.5: x>0.5) describe he possible causes for he response shown here:

11 54) When a proporional conroller ries o follow he sep funcion (y: x<0.5; y.5: x>0.5) describe he possible causes for he response shown here:

12 55) Use he Wavefron planner on he following world, saring a 0 : 0

13 56) Using he pinhole camera model derive he relaionship beween (x,y) and (X,Y,Z). x y

14 57) Draw he pah used by he Bug algorihm from Sar o Goal. Goal Sar

15 58) Draw he rajecory for he Bug2 pah planning algorihm, saring posiion he robo goal he sar. Consider a lef urning robo.

16 59) Draw he visibiliy graph in he following environmen. Draw also he shores pah hrough he visibiliy graph from Sar o Goal. Goal Sar

17 60) Use he grassfire ransform o creae he configuraion space on he following world, dilaing he obsacles by 2 pixel. Is he resuling space conneced?