Question bank of: CSE 494 Mansoura University

Advanced Robotics Faculty of Engineering

MTE Special programs

1. What are the conditions required to define a machine as a robot?

2. Define autonomous? And state the fundamental property of robots?
3. If you have a robot that acts randomly. Does it consider a robot? Why?
4. State the main components of the robot.
5. What’s embodiment? State its main limitations?
6. What are the purposes of robot’s sensors? What does a robot need to sense?
7. Define robot’s state and state the main difference between internal and external
states.
8. For the system shown, state the total number of the states including internal and
external states?

9. Why do we need a robot brain? And state the difference between animal and
robot brain in terms of power consumption?
10.What is actuator? State its main purposes?
11.Why do we need to mimic the locomotion of biological systems?
12.What’s degree of freedom (DOF)?
13.If you have a robot with 6 legs, what are the possible number of movements
the robot can give?
14.State the advantages and disadvantages of wheeled mobile robots.
15.Draw and explain at least five configurations for wheeled mobile robots.
16.Define the following terms:
Controllability.
Omnidirectional.
Maneuverability.
17.What’s robot kinematics? What’s its used for?
18.For the robot shown, determine the robot’s speed in terms of robot’s frame.

19.If the robot’s wheels types are standards, drive the relationship between
robot’s speed in reference frame and wheels’ speed, distance between the
wheels and radius of the wheels.
20.For the shown robot, if the wheels type are standard wheels and the diameter
of each wheel is 0.1m and the distance between the wheels is 1m and the
wheels’ speeds are ∅ _̇ 1=4 rad/s, ∅ _̇ 2=2 rad/s. Compute the robot’s velocity
in global reference frame.
21.For the two-link (RR) arm find, End effector coordinates in terms of joint
coordinates (Direct kinematics).
22.For the two-link (RR) arm find, Joint coordinates in terms of end effector
coordinates (inverse kinematics).
23.By using Lagrange equation of motion, obtain the force required to move RP
arm.
24.Explain with examples, the difference between active and passive actuators.
25.State the advantages and disadvantages of the following actuators:
Hydraulic pistons
Pneumatic pistons
DC motors
26.How can we make DC motors useful for robots?
27.Explain with drawings, how we can control the speed of DC motors?
28.How we can control the rotation direction of DC motors?
29.Design a microcontroller circuit and write a program to control a 12V DC
motor as follows:
• Increase the speed up to 20% for 10 secs.
• Increase the speed up to 70% for 5 secs
• Increase the speed up to 100% for 10 secs.
• Turn OFF the motor for 10 secs.
 • Repeat the previous process.
30.Design a microcontroller circuit and write a program to control a 12V DC
motor as follows:
• CW direction for 10 secs.
• Stop the motor for 2 secs.
• CCW direction for 10 secs.
• Turn OFF the motor for 2 secs.
• Repeat the previous process.
31.Explain with examples, the main differences between active and passive
sensors?
32.What are the main types of switches?
33.What’s shaft encoder? state its main types.
34.Explain with drawings, how we can know the rotation direction of incremental
shaft encoder?
35.State the applications of reflective sensors.
36.What is the main problem of ultrasonic sensor? How we can solve it?
37.State the advantages and disadvantages of laser sensors?
38.How biological eyes and cameras work?
39.What’s stereo vision? How it works?
40.What are main problems with robotics vision? And how we can solve it?