UNIVERSITY OF SOUTH AUSTRALIA

SCHOOL OF ADVANCED MANUFACTURING AND MECHANICAL

ENGINEERING

BACHELOR OF ENGINEERING
SINGAPORE INTAKE 3

FINAL EXAMINATION SEPTEMBER 2003

ROBOTICS AND COMPUTER INTEGRATED MANUFACTURING

MFET.4012

Time Allowed: Three (3) hours

INSTRUCTIONS TO CANDIDATES
1. This is closed book examination and no references are allowed
2. Answer to ALL questions.
3. Marks are shown in brackets. Total marks: 90
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1. Describe the advantages and disadvantages of raster display graphics. [2]

2. How many colours can be displayed simultaneously in a 24-bit planes raster
display? [3]
3. Why are nonparametric curves not adequate for CAD applications? [4]

4. What is a Bezier curve and how it is defined? [4]

5. Name at least five applications of surface modelling. [4]

6. What are the two principal types of data for describing a solid model? [2]

7. Describe the procedure for the construction of a parametric (variational) solid

model. [3]

8. What is a decomposition model structure? Name the three decomposition methods

used in solid modelling [4]

9. Name at least three types of languages used in Web-Based CAD modelling. [3]
10. What are the differences between multi-part assemblies and virtual assemblies? [4]
11. What is the “aliasing” effect present in raster scan display? How is it overcome
(anti-aliasing)? [4]

12. What is a “point light”? A directed light? A spotlight? For each, describe the
concept and the controls needed to use the light in a rendering “scene”. [3]

13. Describe at least two different methods of data exchange in CAD/CAM/CAE

systems Discuss their advantages and disadvantages. [4]
15. two typical software technologies to improve the graphics speed for an assembly of
many parts, namely Level of detail (LOD) and culling. Explain briefly the principle
of each technique. [4]

16. The concept of automated systems can be applied to various levels of factory

Robotics and Computer Integrated Manufacturing Page 1 of 3

 operation. Identify five possible levels of automation in a production plant. [5]

17. What are the major differences between an “adaptive control” and a “feedback
control” applied to the industrial control? [4]

18. Using the robot configuration notation scheme, draw diagrams of the following
robots: [4]

(a) TRL:TR
(b) TVR:TR
(c) RRL:T
(d) LORV:RT

20. Two stepping motors are used in an open loop system to drive the lead screws for
x-y positioning. The range of each axis is 250 mm. The shafts of the motors are
connected directly to the lead screws. The pitch of each lead screw is 3.0 mm, and
the number of step angles on the stepping motor is 125. (a) How closely can the
position of the table be controlled, assuming there are no mechanical errors in the
positioning system? (b) What are the required pulse train frequencies and
corresponding rotational speeds of each stepping motor in order to drive the table at
275 mm/min in a straight line from point (x = 0, y = 0) to point (x = 130 mm, y = 220
mm)? [8]

21. A DAC uses a reference voltage of 80 V and has 6-bit precision. In four successive
sampling periods, each one second long, and the binary data contained in the output
register were 100000, 011111, 011101, and 011010. Determine the equation for the
voltage as a function of time between sampling instants 3 and 4 using (a) a zero-
order hold, and (b) a first-order hold. [9]

******************** END OF EXAMINATION PAPER ********************

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 APPENDIX

List of equations

E0  Eref [o.5 B1  0.25 B2  0.125 B3  ....( 2n ) 1 Bn ]

For the first order hold E (t )  E0   .t

360. x.rg
np 
p.
60 f p
N 
ns rg
Where np = number of pulses, x = x-axis position, p = pitch of the leadscrew,  = step angle, ns
= step per revolution, rg = gear ratio, fp = pulse train frequency in Hz

CR p L
Accuracy = + 3 , CR1 = , CR2 = B .
2 n srg 2 1
Where ns = number of step angles, rg = gear ratio and L = axis range

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