Week 13 UAS

Question 1

3 primary categories of Robots?

Answer 1

1. Manipulators
2. Mobile Robot
3. Mobile Manipulator

Question 2

The difference between passive sensors and active sensors?

Answer 2

Passive sensors such as cameras, capture signals that are generated by other sources in the environment
Active sensors such as sonar, provide more information than passive sensors but increased power consumption and a danger of interference when multiple active sensors are used at the same time.

Question 3

What is Range finders?

Answer 3

sensors that measure the distance to nearby objects

Question 4

Type of Sensors?

Answer 4

1. Range Finders: sonar, laser, radar, GPS
2. Imaging sensors: cameras
3. Proprioceptive sensors: shaft decoders, force sensors, torque sensors

Question 5

What is Effectors?

Answer 5

means by which robots move and change the shape of their bodies.

Question 6

Common examples of hard perceptual problems:

Answer 6

1. localization
2. mapping
3. object recogniziton

Question 7

2 approaches to handle infinite states in Moving?

Answer 7

1. Cell decomposition: divide up space into simple cells

2. Skeletonization: identify finite number of easily connected points/lines

Question 8

What is software architecture?

Answer 8

a methodology for structuring algorithms. An architecture includes languages and tools for writing programs, as well as an overall philosophy for how programs can be brought together.

Question 9

What is Hybrid architectures?

Answer 9

Hybrid architectures combine reaction with deliberation. The most popular hybrid architecture is the three-layer architecture, which consists of:

1. The reactive layer provides low-level control to the robot. It is characterized by a tight sensor—action loop. Its decision cycle is often on the order of milliseconds.
2. The executive layer (or sequencing layer) serves as the glue between the reactive layer and the deliberative layer. It accepts directives by the deliberative layer, and sequences them for the reactive layer.
3. The deliberative layer generates global solutions to complex tasks using planning.

Question 10

What is pipeline architecture?

Answer 10

pipeline architecture processes data in parallel through a sequence of modules, corresponding to perception, modeling, planning, control, and robot interfaces.

Question 11

what is The subsumption architecture?

Answer 11

The subsumption architecture enables programmers to compose robot controllers from interconnected finite state machines.