week 5 Flashcards
what is a proportional controller?
a type of linear feedback control system in which a correction is applied to the controlled variable
What does PI stand for in PI controller?
proportional- integral controller
what is a PI controller?
a feedback control loop that calculates an error signal by taking the difference between the output of a system
what does PD stand for in PD controller?
proportional-derivative controller
what is a PD controller?
A type of controller in a control system whose output varies in proportion to the error signal
what does PID stand for in PID controller?
Proportional, Integral, Derivative
what is a microcontroller?
a compact integrated circuit designed to govern a specific operation in an embedded system
what are microcontrollers designed for?
embedded systems
what type of memory does a microcontroller include?
RAM and ROM
what is the use of a gear?
reduce velocity but increase torque
what makes up a servo motor?
motor + gears + encoder
what is a control paradigm?
a control concept that makes it possible for a system to respond in a specified way to command signals
what is sense-plan-act?
the three critical capabilities that every robot must have in order to operate efficiently.
what are the pros of sense-plan-act?
-easy to design, understand + analyse
-formalisable through logic
-new AI results can be incorporated
what are the cons of sense-plan-act?
-slow reaction time
-monolithic
-hard to debug
-problems to solve: sensor fusion, frame problem
what is behaviour-based control?
A control strategy based on a network of behaviours that achieve and/or maintain goals.
what are the pros of behaviour-based control?
-fast reaction time
-dont need to plan the whole system beforehand
-easy to debug
-distributed control
what are the cons of behaviour-based control?
-limited habilities
-need to plan the system beforehand
what is a motor schema?
general behaviour/ processing modules with some specific purpose
what are the pros of motor schemas
-works in biology
-fast reaction time
-exploits parallelism
-modular
-simplicity of central decision maker
what are the cons of motor schemas?
-centralised behaviour
-motor fusion problem
what is hybrid architecture?
a combination of deliberative and reactive architectures which consists of three layers: modelling, planning and reaction.
what are the pros of hybrid architecture?
-fast reaction time at lowest level
-easy to design
-simple user interface
what are the cons of hybrid architecture?
-centralised planner
-sensor fusion design and motor fusion sequencing
-conditions to switch modules
