AL-604-C Intelligent Systems for Robotics - May 2023 Question Paper

Under each question, How to answer lists the points an answer should cover, outlined by CampusPrep from the syllabus. Check the details against your textbook.

1. 7 Marks
   aWhat do you understand by the term, the robotics? What are the basic aspects of the robotics?
   How to answer

   • Define robotics / robots as programmable manipulators
   • Basic aspects: mechanics, kinematics, control, sensing, intelligence
   • Goals: accuracy, repeatability, autonomy and applications
2. 7 Marks
   bDiscuss various types of programming method used in robot.
   How to answer

   • List programming methods: manual, teach pendant, offline, task-level
   • Explain lead-through, textual languages, simulation based
   • Compare advantages and use cases in robots
3. 7 Marks
   aDiscuss about the problems peculiar to robot programming languages.
   How to answer

   • Define robot programming languages requirements
   • Discuss concurrency, sensing, world modelling issues
   • Discuss uncertainty, real-time and hardware dependence
4. 7 Marks
   bWhat is the need of AI in robotics? What are the major types of intelligent agents in robotics?
   How to answer

   • Explain need of AI: perception, decision, autonomy, adaptability
   • Define intelligent agents: reactive, deliberative, hybrid
   • List major types: simple reflex, model-based, goal-based, utility-based, learning agents
5. 7 Marks
   aWhat are the major components of a game playing program in AI?
   How to answer

   • Define game playing program and its purpose
   • Components: state representation, move generator, evaluation function, search
   • Explain control strategy and learning component
6. 7 Marks
   bWhat is the basic strategy in game playing in artificial intelligence?
   How to answer

   • Define adversarial search and minimax principle
   • Explain basic strategy: look-ahead, evaluation, pruning
   • Mention alpha-beta and heuristics for efficiency
7. 7 Marks
   aWhat is planning of trajectory in fundamentals of robotics?
   How to answer

   • Define trajectory planning: path vs trajectory
   • Explain joint-space and Cartesian-space planning
   • Mention constraints: velocity, acceleration, obstacle avoidance
8. 7 Marks
   bWhat do you mean by "Robot kinematics representations".
   How to answer

   • Define robot kinematics and its role
   • Explain representations: joint coordinates, DH parameters, transforms
   • Mention forward vs inverse kinematics representation
9. 7 Marks
   aDiscuss concept of reverse kinematics of manipulators with two and three degree of freedom.
   How to answer

   • Define inverse kinematics problem
   • Explain 2-DOF planar solution with geometry
   • Extend to 3-DOF: multiple solutions and singularities
10. 7 Marks
    bDiscuss about the Line coordinate transformations and Hayati-Roberts co-ordinates.
    How to answer

    • Define line coordinates and their use
    • Explain coordinate transformations between frames
    • Describe Hayati-Roberts coordinates and parameters
11. 7 Marks
    aDiscuss about the Composition of rotations about moving axes.
    How to answer

    • Define rotation about fixed vs moving axes
    • Explain composition rule and rotation matrices multiplication order
    • Mention Euler angles and RPY equivalent
12. 7 Marks
    bDiscuss about the Kinematic chain topologies.
    How to answer

    • Define kinematic chain: links and joints
    • Explain open vs closed chains
    • Discuss topologies: serial, parallel, hybrid with examples
13. 7 Marks
    aDiscuss about the Decoupling of rigid body dynamics about center of mass.
    How to answer

    • Define rigid body dynamics and center of mass
    • Explain translational and rotational decoupling
    • Write Newton-Euler equations at COM
14. 7 Marks
    bWhat do you mean by Accuracy and repeatability of Robotics?
    How to answer

    • Define accuracy vs repeatability
    • Explain factors affecting each and measurement
    • Discuss importance in robot performance
15. 14 Marks
    Write short notes on: (any Two)

    1. a)Robot joints and links
    2. b)Architecture of robotic systems
    3. c)What is the difference between electric hydraulic and pneumatic drive system?
    4. d)Structure of agents
    How to answer

    • Explain robot joints and links types
    • Describe robotic system architecture layers
    • Compare electric vs hydraulic vs pneumatic drives and agent structure