WAES3305: Asas- asas Robotik

Please answer all questions [Total marks=20]

1. State Asimovs law of robotics
[1.5 marks]
a. A robot may not injure a human being, or, through inaction, allow a
human being to come to harm.
b. A robot must obey the orders given it by human beings except where such
orders would conflict with the First Law.
c. A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law.
2. Why there is no robot with seven degree of freedom in industry?
[1 mark]
There is no seven degrees of freedom in industry because they do not have unique
solution (there are infinite numbers of ways it can be positioned and orientated).
Therefore, there must be an additional decision making routine (for the controller)
that allows it to pick the fastest or shortest path to the desired destination.
3. Give the full name of PCM, DM, DPCM and ADPCM. Describe their
fundamental differences.
[4 marks]
PCM: Pulse Code Modulation
DM: Delta Modulation
DPCM: Differential Pulse Code Modulation
ADPCM: Adaptive Differential Pulse Code Modulation
PCM: The analog speech waveform is sampled and converted directly into a
multibit digital code by an A/D converter. The code is stored and subsequently
recalled for playback
DM: Only a single bit is stored for each sample. This bit 1 or 0, represents a
greater than or less than condition, respectively as compared to the previous
sample. An integrator is then used on the output to convert the stored nit stream to
an analog signal.
DPCM: Stores a multibit difference value. A bipolar D/A converter is used for
playback to convert the successive difference values to an analog waveform.
ADPCM: Stores a difference value that has been mathematically adjusted
according to the slope of the input waveform. Bipolar D/A converter is used to
convert the stored digital code to analog for playback.

4. List the steps that must be performed to create a phoneme string for a given
phrase.
[2.5 marks]
The 5 tasks to develop phoneme string:
Determine phoneme string symbol required for the given words within a
phrase.
Provide pauses between syllables and words as needed for timing and
rhythm
Provide intonation for the individual word as well as the entire phrase
Convert the phoneme symbol string to phoneme code string
Execute the phoneme string, listen to the result and modify accordingly.
5. What is the purpose of dynamic programming?
[1 mark]
Dynamic programming attempts to produce the vest possible fit between two
templates so that the system does not reject the current utterance simply because
the speaker did not sat the word exactly the same as when the reference template
was mad. Dynamic programming is a matrix analysis technique that computes all
the possible combinations of time alignments between the reference and unknown
templates, the result being the best match between the two templates.
6. Explain why the higher-level knowledge sources are so important to the
speech-understanding task.
[1 mark]
This speech understanding system is useful for reasoning strategy. In backward
reasoning for example, the higher-level knowledge can be used to expect the
contents of an utterance. The constraint knowledge of this high level can be
collaborated in reasoning process and reduce the possibility of interpretation error.
7. Robert cross operator approximates the first derivative of a digital image.
Show the Robert cross operator formula by using the figure shown below
where A, B, C and D are the image intensity.
A

Figure 1
[1 mark]
Answer:
R = [(A-D)2+(C-B)@]1/2

8. Create a pyramid for Figure 2, then create a quad tree from the answer

Figure 2
[4 marks]
Answer

Follow the following sequence to produce the quad tree:

1
3
2
4

9. Label a cube using the 18 legal labeling possibilities in trihedral world

[2 marks]
Answer:

10. Explain how shadows and cracks can enhance the image understanding
process
[2 marks]
Shadows enhance image understanding, since the existence of shadow indicates
the existence of at least one other object and many times indicates that the object
is being supported by another object. Cracks usually indicate the presence of
several but connected, objects.