Control systems are aiding humans in maintaining their homes.

The robotic vacuum cleaner depicted in figure above is an example of a mechatronic system under active control that relies on infrared sensors and microchip technology to navigate around furniture. Describe a closed-loop feedback control system that guides the robotic vacuum cleaner to avoid collisions with obstacles.

Consider the human transportation vehicle (HTV) depicted in figure above. The self-balancing HTV is actively controlled to allow safe and easy transportation of a single person. Describe a closed-loop feedback control system to assist the rider of the HTV in balancing and maneuvering the vehicle (block diagram).