SCHOOL OF ELECTRONICS ENGINEERING

DA-1 (Fall 2023-24)

Programme: B.Tech
Class Details: VL2023240100306 | D1+TD1
Course: BECE312L-Robotics and Automation
Faculty: Dr. Tanmaya Kumar Das (Emp ID: 19523) Submission Date: 15.07.23
Each question carries 10 marks
Q 1.
a) Give a brief description for false contouring and checkerboard pattern in digital images.
Indicate their causes.
b) A square image is represented by 131072 bits. What is the image spatial size if each pixel
is represented by 8 bits?
c) Compute the number of bits that represent an image that has 64 gray levels and a size of
512 × 512 pixels. What is the time (in seconds) required to transmit this image over a 14.4
kbits/second modem?
Q 2.
Perform Image segmentation with region split and merge strategy of the image illustrated in Figure
1 below. The logical predicate 𝑃(𝑅𝑖 ) = 𝑇𝑅𝑈𝐸 when all the pixels in the region 𝑅𝑖 has the same
intensity. Give the result after each split and merge.
1 1 1 1 1 1 1 2
1 1 1 1 1 1 1 0
3 1 4 9 9 8 1 0
1 1 8 8 8 4 1 0
1 1 6 6 6 3 1 0
1 1 5 6 6 3 1 0
1 1 5 6 6 2 1 0
1 1 1 1 1 1 0 0
Figure 1
Q 3.
Perform thresholding of an image illustrated in Figure 2 below by choosing a threshold value of
𝑇 = 4.5 and 𝑇 = 5.5. Show the pattern created clearly after thresholding.

Figure 2
 SCHOOL OF ELECTRONICS ENGINEERING
DA-1 (Fall 2023-24)

Q 4.
Segment the image illustrated in Figure 3 below with region split and merge strategy of the image.
The logical predicate 𝑃(𝑅𝑖 ) = 𝑇𝑅𝑈𝐸 when all the pixels in the region 𝑅𝑖 has the same intensity.
Give the result after each split and merge.

Figure 3
Q 5.
Draw the approximate workspace for the following robot.

Q 6.

Q 7.

Q 8.
 SCHOOL OF ELECTRONICS ENGINEERING
DA-1 (Fall 2023-24)

Discuss the principle of working and construction of a sensor that would suppress oscillation in
the presence of a metallic object in its proximity with a neat sketch.

Q 9.

Refer to Figure 2, which demands immediate reaction ‐ evasive manoeuvre, or stop forward
motion at least. Which sensor you would like to install in your mobile robot to avoid any obstacle
or collision with the wall? Discuss your choice with neat sketch.

Figure 2

Q 10.

Calculate the DOF.