Robots

Question 1

what is robotics

Answer 1

-science of perceiving and manipulating the physical world through computer-controlled devices

Question 2

components of a robot

Answer 2

• sensors
• controllers
• acuators

Question 3

four parts of an aseba program

Answer 3

• variable declarations
• initialization code
• subroutines
• event handlers

Question 4

what is a sensor

Answer 4

• senses sound
• senses light
• senses acceleration
• senses temperature
• input is continuous
• converts data to discrete values

Question 5

what are characteristics of a sensor? (7)

Answer 5

• sensitivity
• range
• response time
• precision
• accuracy
• bias
• variability

Question 6

how to characterize a sensor (7)

Answer 6

• identify sensor
• identify characteristic
• identify possible variables
• fix all but one of the variables
• create a sequence of known inputs
• tabulate results and calculate means
• plot results and analyze plot

Question 7

making use of results

Answer 7

-create a linear model to try and predict results to best possible degree

Question 8

threshold

Answer 8

-value that gives a sensor reading meaning

Question 9

polling time

Answer 9

how often the sensor is checked

Question 10

response time

Answer 10

how quickly sensor can react to environmental changes

Question 11

state

Answer 11

unique set of conditions that hold at a given time

Question 12

state transition

Answer 12

transition occurs when an event occurs
external event: environmental change
internal event: task completed (timer running out etc)

Question 13

state transition diagram

Answer 13

models a task

• states are circles
• arrows are transitions

Question 14

Note: Study specific state transition diagrams (lecture 15)

Answer 14

lecture 15

Question 15

failure

Answer 15

state that the system should not be in under normal conditions

Question 16

failure cause

Answer 16

physical or functional reason for the failure

Question 17

failure manifestation

Answer 17

detectable effect of the failure

Question 18

failure identification

Answer 18

determine the cause and how the failure manifests

Question 19

enumerating failure

Answer 19

enumerate failures to

• failures we can deal with
• failures we can understand
• failure manifestations we can identify

Question 20

mechanisms for detecting failure

Answer 20

• sensors register unexpected changes
• actuators report status errors
• timer expired while waiting for an expected event
• actuators fail to move the prescribed amount
• unexpected internal events

Question 21

response mechanisms

Answer 21

parts of the program that respond to failure

Question 22

tracking and enumerating states

Answer 22

• use a state variable
• enumerate all states
• can be done automatically

Question 23

identify events

Answer 23

• identify events associated with each transition
• add an event handler for each event
• in each handler implement the transitions associated with the event

Question 24

gather transition information

Answer 24

-identify:
states
event
sensor
change in sensor
thresholds action

Question 25

tactics

Answer 25

how you implement the strategy

Question 26

program planning

Answer 26

• for each event formulate a strategy
• –convince yourself you can implement it
• –identify tactics that you will need
• for each tactic
• –design a state transition diagram
• –design the corresponding part of the program

Question 27

the printf method

Answer 27

• determine when we have reached a specific point in our program
• maybe by adding LED lights

Question 28

divide and conquer

Answer 28

divide into sections and subsections and check each section

Question 29

random search

Answer 29

• robot move in a straight line, turn a random amount when obstacle encountered
  pros: easy to implement, almost guaranteed, odometry not needed
  cons: inefficient, repetition of locations, can’t reproduce search