MOBILE ROBOTICS – Exam 11th of July 2011NAME, SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------1.) Name the 3Ds of a robot job and give for each of the 3Ds an example of a mission that a robot could have to fulfill: (3 points) D: Mission Type: D: Mission Type: D: Mission Type: 2.) The “Three Laws of Robotics” by Isaac Asimov where part of the lecture. Please give for each of the three laws an example how a robot has to react in a generic situation to fulfill the specific law: (4 points) a.) 1. Law: b.) 2. Law: c.) 3. Law: 3.) What are the two modes that are common use for analog I/O and what are the common ranges of the values? (2 points) st 1 Mode: 2nd Mode: 4.) What is the maximum size of the data field inside a CAN message (in Bytes): (1 points) ------------------------------------------------------------------------------------------------------------------------Page 1 of 7 SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------5. are independently from the total number of rings and each ring is in total 50% black and 50% white.MOBILE ROBOTICS – Exam 11th of July 2011 NAME. Value: Bit 3: Bit 2: Bit 1: Bit 0: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ------------------------------------------------------------------------------------------------------------------------Page 2 of 7 . that is using the gray code.) Please fill the table regarding the 16 states of a 4bit encoder that is using the gray code and visualize it afterwards in figure below: (8 points) TIP: The black and white areas in each ring of the encoder. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------6.) Please visualize in the prepared drawing below how amplitude and frequency modulation are working: (points 3) ------------------------------------------------------------------------------------------------------------------------Page 3 of 7 .MOBILE ROBOTICS – Exam 11th of July 2011 NAME. ) Draw the movement of a robot in the given map using the BUG 2 algorithm and mark all entry and leaving points as discussed in the lecture: (points 5) ------------------------------------------------------------------------------------------------------------------------Page 4 of 7 .MOBILE ROBOTICS – Exam 11th of July 2011 NAME. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------7. If more than one optimal solution exists. The obstacles are marked grey. please mark all alternatives. For the movement of the UGV please use 8-point connectivity.MOBILE ROBOTICS – Exam 11th of July 2011 NAME. (points 5) S G ------------------------------------------------------------------------------------------------------------------------Page 5 of 7 . SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------8.) Please use the Bush-Fire algorithm for the grid map below to calculate the optimal path from the Start position (S) to the Goal position (G). please create from the terrain map a gradient map and mark all cells with a gradient higher or equal to 4 as an obstacle. (points 5) Obstacle map 1 3 2 4 0 3 4 4 4 3 4 5 0 3 5 5 4 3 4 7 0 2 2 1 5 5 4 5 1 3 3 3 4 4 4 6 5 4 5 5 Gradient map ------------------------------------------------------------------------------------------------------------------------Page 6 of 7 .) A 3D Laser scanner has measured the height information of the surrounding of a UGV and used the self-localization information to create a 2D map containing the absolute height values.MOBILE ROBOTICS – Exam 11th of July 2011 NAME. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------9. As the robot has a limited capability to move on the terrain. (points 9) S 11 5 11 10 9 10 9 1 8 1 8 1 11 1 10 5 10 10 8 10 11 1 10 5 9 10 7 10 7 10 1 9 5 8 10 6 10 6 5 5 5 5 10 10 5 9 5 8 10 6 10 5 5 4 5 4 5 9 1 8 1 7 10 5 10 4 10 4 5 3 5 9 5 8 1 7 10 5 5 4 10 3 10 9 1 8 1 7 10 6 5 5 5 4 5 3 10 2 10 9 1 8 1 7 1 6 5 5 10 4 10 3 10 2 10 1 9 1 8 5 7 1 6 1 5 10 4 5 3 5 2 5 10 G ------------------------------------------------------------------------------------------------------------------------Page 7 of 7 .) Please use the map below to plan the path using A* from the start position (S) to the goal position (G). Please use 4-point connectivity for the path planning with A* and do not forget to consider the heuristics. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------10.MOBILE ROBOTICS – Exam 11th of July 2011 NAME. the terrain information and for the collision avoidance towards the obstacles the diameter of the UGV. For your convenience the heuristic of each cell is given in the lower left corner and the terrain value is given in the lower right corner. Please consider the size of the UGV with a diameter of 1.5 cells.