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G DA3 for CSE3011 – robotics and its applications - Dr.Ranganathan Sridhar

Note: This is a team assignment. This consists of five questions. The size of the team is restricted
to THREE. More than THREE strictly NOT allowed. Nominate one person as team member and the
first page of the document should mention clearly. Answers for all five questions should bemerged
and only one document SHOULD BE UPLOADED by leader. Any violation will lead to reduction in
marks.

Do not lend your document for copying. If too much similarity is detected between documents,
then both teams will lose marks.

Divide and share the work such that you can discuss and do . Also you should be familiar with
work of other team members.

Last date for submission is 24th November 2023 23:59 hours. Delay in submission will lead to loss
of marks.

Q1. VIT playground is of size 50m*50m. It has got three temporary buildings and a circular well
whose cross sections are given here.

[i] A quadrilateral whose four end points are [15,15].[25,12],[22,18] and [7,7].

[ii] A circle with center [35,35] and radius 9m

[iii] A rectangle whose four end points are [30,12],[40,12],[30,17] and [40,17]

[iv] A square whose four end points are [7,35],[12,35],[7,40] and [12,40]

A finite width robot [ having a width of 3 m ] has to start from [0,0] and drops tools at [25,12]
followed by [12,40] and then at [40,17] and then reach [50,50]. NOTE the points need to be reached
in the same order.

NOTE: X and Y axis scale size should be the same.

[a] Draw the terrain and four obstacles and mark the end points

[b] Draw similar shaped envelopes around every obstacles, reaching which the robot would be able
to handover tools without damaging itself.

[c] Find the 4 points where the robot needs to stop to deliver tools as well as to reach the final end
point. Please note the robot will be able to extend its hand only horizontally or vertically.

[d] Draw the path to be taken by the robot by ‘Visibility graph’ method. Please note that this is a
finite width robot and if it hits the obstacle it would be damaged If next target point is not visible,
the robot needs to move horizontally or vertically to a minimum distance till the target is visible.

-------------------------------------------------------------------------------------------Q1 weightage 2 marks-------------

Q2, Now assume the same playground and obstacles. Another robot with zero width [point robot]
has to start from origin and need to go through the same path and in the same order.
Using another graph sheet,[ NOTE: X and Y axis scale size should be the same.[

[a] Draw the terrain and four obstacles and mark the end points

[b] Draw the path to be taken by the robot by ‘VORONOI graph’ method

-------------------------------------------------------------------------------------------Q2 weightage 2 marks-------------

Q3. Use one graph sheet for [a] and [b]; another for [c] and [d]; another for [e] and [f].

[a] Draw a regular pentagon centered around [ 22,22] with each side = 9units. The bottom side of
the pentagon is parallel to X-axis.

[b] Draw a regular pentagon- centered arun [35,35] with each side = 9 units. One side of the
pentagon is parallel to Y-axis.

[c] Draw a regular hexagon- centered around [ 22,22] with each side = 12 units. The bottom and top
sides of hexagon are parallel to X-axis.

[d] Draw a regular hexagon centered around [38,38] with each side = 12 units. Two sides of hexagon
are parallel to Y-axis.

[e] Draw a regular octagon centred around [22,22] with each side = 9 units. The bottom and top
sides of hexagon are parallel to X-axis.

[f] Draw a regular octagon centered around [35,35] with each side = 9 units. Two sides of octagon
are parallel to the Y-axis.

--------------------------------------------------------------------------------------------------Q3 – weightage = 3 marks

Q4. Study ‘Drones and Quadcopters’ in detail. Use any material available in books or
worldwideweb. Explain its structure with a diagram naming its parts and explain its operating
principle. Give some civilian and military uses of drones and cite the advantages.

[ NOTE : The answer should be handwritten with neat diagram]. It should be converted to image
and then to pdf and to be uploaded.]. Maximum size is 3 pages.

-------------------------------------------------------------------------------------------------Q4 weightage – 1.5 marks

Q5. Study ‘Autonomous underwater robotic vehicles’ in detail. Use any material available in books
or worldwideweb. Explain its structure with a diagram naming its parts and explain its operating
principle. Give some civilian and military uses of AUVs and cite the advantages.

[ NOTE : The answer should be handwritten with neat diagram]. It should be converted to image
and then to pdf and to be uploaded.]. Maximum size is 3 pages.

-------------------------------------------------------------------------------------------------Q5 weightage – 1.5 marks