MSc Robotics and Autonomous Systems Autonomous Systems Engineering - EE505235

Example questions

1. Explain how a robot can perform from basic to complex behaviours without complex
computation processes.

2. Explain a method that you can use to remove noise from an image.

3. Explain the criteria that can be used to determine the level of autonomy of a robotic
system.

4. Explain the difference between a shallow ANN and a CNN.

5. Explain the difference between a CNN and Fuzzy Logic

6. Draw a CNN architecture with all its key processes for recognition of digits from 0 to 9.

7. Draw and explain the processes involved in Fuzzy Logic.

8. You need to design a Fuzzy Logic Controller to make a drone capable of adjusting its
altitude smoothly based on the colour of the floor. This drone has a colour sensor
(camera) that provides RGB components of the floor and an altitude sensor that provides
the current altitude of the drone. The drone should increase and decrease its altitude
according to the colour of the floor as shown in the figure below.

9. Given the mission profile show in the figure below, what is the minimum capacity of
battery required to provide sufficient energy to complete the mission. Assume that the
battery nominal voltage is 14.8V.

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MSc Robotics and Autonomous Systems Autonomous Systems Engineering - EE505235

10. The matrix shown below represent the information from an image (I). Implement the
convolution of image (I) and kernel (K) to obtain the image matrix (C). Do not place the
kernel beyond the size of image I. Show the calculations to get each of the new values for
the new image matrix C.

Image (I) Kernel (K)

2 2 1 4 1 0 1
C= 3 2 1 6 * 0 2 0
1 5 4 5 1 0 1
4 4 3 3

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