week 5

Question 1

what is a proportional controller?

Answer 1

a type of linear feedback control system in which a correction is applied to the controlled variable

Question 2

What does PI stand for in PI controller?

Answer 2

proportional- integral controller

Question 3

what is a PI controller?

Answer 3

a feedback control loop that calculates an error signal by taking the difference between the output of a system

Question 4

what does PD stand for in PD controller?

Answer 4

proportional-derivative controller

Question 5

what is a PD controller?

Answer 5

A type of controller in a control system whose output varies in proportion to the error signal

Question 6

what does PID stand for in PID controller?

Answer 6

Proportional, Integral, Derivative

Question 7

what is a microcontroller?

Answer 7

a compact integrated circuit designed to govern a specific operation in an embedded system

Question 8

what are microcontrollers designed for?

Answer 8

embedded systems

Question 9

what type of memory does a microcontroller include?

Answer 9

RAM and ROM

Question 10

what is the use of a gear?

Answer 10

reduce velocity but increase torque

Question 11

what makes up a servo motor?

Answer 11

motor + gears + encoder

Question 12

what is a control paradigm?

Answer 12

a control concept that makes it possible for a system to respond in a specified way to command signals

Question 13

what is sense-plan-act?

Answer 13

the three critical capabilities that every robot must have in order to operate efficiently.

Question 14

what are the pros of sense-plan-act?

Answer 14

-easy to design, understand + analyse
-formalisable through logic
-new AI results can be incorporated

Question 15

what are the cons of sense-plan-act?

Answer 15

-slow reaction time
-monolithic
-hard to debug
-problems to solve: sensor fusion, frame problem

Question 16

what is behaviour-based control?

Answer 16

A control strategy based on a network of behaviours that achieve and/or maintain goals.

Question 17

what are the pros of behaviour-based control?

Answer 17

-fast reaction time
-dont need to plan the whole system beforehand
-easy to debug
-distributed control

Question 18

what are the cons of behaviour-based control?

Answer 18

-limited habilities
-need to plan the system beforehand

Question 19

what is a motor schema?

Answer 19

general behaviour/ processing modules with some specific purpose

Question 20

what are the pros of motor schemas

Answer 20

-works in biology
-fast reaction time
-exploits parallelism
-modular
-simplicity of central decision maker

Question 21

what are the cons of motor schemas?

Answer 21

-centralised behaviour
-motor fusion problem

Question 22

what is hybrid architecture?

Answer 22

a combination of deliberative and reactive architectures which consists of three layers: modelling, planning and reaction.

Question 23

what are the pros of hybrid architecture?

Answer 23

-fast reaction time at lowest level
-easy to design
-simple user interface

Question 24

what are the cons of hybrid architecture?

Answer 24

-centralised planner
-sensor fusion design and motor fusion sequencing
-conditions to switch modules