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Autonomous Mobile Robotics > 1 - Introduction > Flashcards

1 - Introduction Flashcards

1
Q

What is a robot for?

A

Help/replace humans in monotonous, boring, repetitive, dangerous, difficult tasks

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2
Q

What are robots the intelligent connection of?

A

Perception and action

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3
Q

What is the main challenge of mobility within robots?

A

Navigation

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4
Q

What does mobility open possibilities for?

A

Transportation, surveillance, cleaning

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5
Q

What are 3 parts of autonomy in robots?

A

Reasoning, making decisions, planning

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6
Q

What are the 5 parts to the anatomy of robots?

A

Body, Actuators, Sensors, Processing Unit, Software Commands

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7
Q

What are manipulators?

A

Big arms, precise strong fast, operate in controlled environments, limited sensory abilities

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8
Q

Name some applications of robots?

A

Exploration, Surveillance, Security, Care Assistants, Agricultural Robots, Intelligent vehicles

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9
Q

Name some effectors?

A

Hand, arm, gripper, wheels, legs, tracks, rotors

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10
Q

Name some actuators?

A

Electric motors, pneumatic systems, hydraulic systems

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11
Q

What are the two types of sensor?

A

Proprioceptive and Exteroceptive

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12
Q

What are proprioceptive sensors?

A

Sense the internal state of the robot, self-awareness

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13
Q

What are exteroceptive sensors?

A

Sense the state of the environment

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14
Q

Name some examples of proprioceptive sensor?

A

Odometry, battery level, temperature

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15
Q

Name some examples of exteroceptive sensor?

A

Light intensity, distance measurements

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16
Q

What is the difference between passive and active sensors

A

Passive sensors measure the phenomena directly whereas active sensors emit something and measure the reflection

17
Q

What is dead reckoning?

A

Dead reckoning. Position based on the previous known position

18
Q

What is an odometry sensor?

A

Measures the speed of each wheel and then uses wheel geometry to calculate the velocity of a robot

19
Q

What are the two types of wheel speed estimation?

A

Nominal motor speed + gear ratio AND motor encoder

20
Q

What is a motor encoder?

A

Where a sensor is mounted on the wheel shaft that counts motor revolutions

21
Q

What are the limitations of odometry?

A

Wheel slippage, uneven friction and uneven wheel size

22
Q

How do passive light sensors work?

A

By measuring light intensity directly

23
Q

What can light be used for in navigation?

A

To mark importance places, i.e recharging stations and exits from rooms

24
Q

What is IR an example of?

A

An active light sensor

25
Q

What are time of flight sensors?

A

Active distance measurements that use reflected signal

26
Q

What is the formula for time of flight sensors?

A

d = (v*t) / 2

27
Q

What is a sonar sensor?

A

Uses ultrasonic signal where V is the speed of sound

28
Q

What are the disadvantages of sonar sensors?

A

Processing is slow and noisy

29
Q

What are the advantages of using sonar sensors?

A

Cheap and good for obstacle avoidance

30
Q

What are laser sensors?

A

Time of flight sensor using a pulsed laser and a rotating mirror

31
Q

What are the advantages of laser sensors?

A

High precision, long range, wide field of view and fast

32
Q

Name 4 types of vision sensor

A

Colour, thermal, omni-directional, stereo

33
Q

What do you need when emulating a laser scanner and merging readings?

A

Calibration of the two sensors (where one is in relation to the other)

34
Q

Name 7 other types of sensor?

A

Tactile, direction and orientation, global position, motion, temperate, sound, smell

35
Q

What is the hierarchy of sensor processing requirement?

A

Bump Sensors -> Odometry -> Sonar -> Speech -> Vision

36
Q

Discuss perception in sensors?

A

Sensors often do not provide direct measurements nor provide exact values

Some sensors may provide rich information that needs to be reduced

Some sensors provide sparse information that needs to be interpolated

37
Q

What are the 3 aspects that depend upon and influence each other?

A

Robot, Task, Environment

Autonomous Mobile Robotics (13 decks)

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