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1. 11. What is the name for information sent from robot sensors to robot controllers?

   1. Atemperature
   2. Bpressure
   3. Cfeedback
   4. Dsignal
2. 22. Which one of the following terms refers to the up - down motion of a robot arm?

   1. Ayaw
   2. Bpitch
   3. Croll
   4. Delevate
3. 33. Which of the following terms refers to the left - right movement of a robot arm?

   1. Ayaw
   2. Bvertical
   3. Cpitch
   4. Droll
4. 44. Which of the following terms refers to the rotational motion of a robot arm?

   1. Aswivel
   2. Baxle
   3. Croll
   4. Dyaw
5. 55. What is the name for the space inside which a robot unit operates?

   1. Aenvironment
   2. Bexclusion zone
   3. Cwork envelop
   4. Dspatial base
6. 66. Which of the following terms IS NOT one of the five basic parts of a robot?

   1. Aend effector
   2. Bperipheral tools
   3. Ccontroller
   4. Dsensor
7. 77. The number of move able joints in the base, the arm, and the end effector of the robot determines ............... ?

   1. Apayload capacity
   2. Bcost
   3. Cflexibility
   4. Ddegrees of freedom
8. 88. Which of the following places would be LEAST likely to include operational robots?

   1. Awarehouse
   2. Bfactory
   3. Cprivate homes
   4. Dhospitals
9. 99. For a robot unit to be considered a functional industrial robot, typically, how many degrees of freedom would the robot have?

   1. Athree
   2. Bfour
   3. Csix
   4. Deight
10. 1010. Which of the basic parts of a robot unit would include the computer circuitry that could be programmed to determine what the robot would do?

    1. Asensor
    2. Bend effector
    3. Ccontroller
    4. Darm

11. 1111. Which of the following terms refers to the use of compressed gasses to drive (power) the robot device?

    1. Apneumatic
    2. Bhydraulic
    3. Cphoto sensitive
    4. Delectric
12. 1212. With regard to the physics of power systems used operate robots, which statement or statements is most correct?

    1. AAll of the above are basic principles of physics.
    2. Bpneumatics involve the compression of air
    3. Chydraulics involves the compression of air
    4. Dhydraulics involves the compression of liquids
13. 1313. Which of the following statements concerning implementation of robotic systems is correct? Select the BEST answer.

    1. Aimplementation of robots CAN save existing jobs
    2. Ball of the above are possible (correct answer, your response)
    3. Crobotics could prevent a business from closing
    4. Dimplementation of robots CAN create new jobs
14. 1414. Which of the following IS NOT one of the advantages associated with a robotics implementation program?

    1. AReduced company cost for worker fringe benefits
    2. BRobots work continuously around the clock
    3. CQuality of manufactured goods can be improved.
    4. DLow costs for hardware and software
15. 1515. Which of the following "laws" is Azimov's first and most important law of robotics?

    1. Arobot actions must never result in damage to the robot
    2. Brobots should be used to eliminate jobs of human workers
    3. Crobots must make business a greater profit
    4. Drobots must never take actions harmful to humans
16. 1616. Behavior based navigation is better than planning based navigation in some situations because:

    1. AIt uses a world model
    2. BBehaviors cannot be fused through competitive coordination schemes
    3. CIt navigates by planning a path around obstacles.
    4. DNone of the above
17. 1717. In general, a locomotion system can possibly have

    1. ANone of the above
    2. BGood stability and Good controllability and Good maneuverability
    3. CGood stability and Good controllability
    4. DGood controllability and Good maneuverability
18. 1818. A robot using control inputs to predict position estimates is moving in the negative y direction in a global coordinate frame. With respect to the variance in its final position estimate, it will have:

    1. AGreatest variance in the y direction
    2. BNone of the above
    3. CLeast variance in the direction orthogonal to its motion
    4. DEqual variance in the x and y directions
19. 1919. In order to follow a delayed sequence of set movements, without direct user control, a robot must be _____

    1. Acontrolled
    2. Bcontrolled by a remote.
    3. Ccomputerized.
    4. Dprogrammed
20. 2020. A programming “loop” does which of the following?

    1. AStarts the program code
    2. BPerforms multiple functions
    3. CRepeats a section of program code
    4. DStops the program code
21. 2121. A computer program consists of ______ that tells the computer to do something.
    

    1. Acode
    2. Bsensors
    3. Clights
    4. Drobots
22. 2222. Which of the following enables a robot to investigate and react to its environment?

    1. ATires
    2. BSensors
    3. CLCD panels
    4. DMechanical arms
23. 2323. What is a computer program?

    1. AComputer generated text
    2. BThe hardware that controls a computer
    3. CInstructions written in a language a computer understands
    4. DLanguage that is built into a robot
24. 2424. Which of the following is a wireless connection?

    1. ABluetooth
    2. BRCX
    3. CUSB
    4. DSerial port
25. 2525. Which of the following is an automated machine that works on an assembly line?

    1. AIndustrial robot
    2. BAssembly robot
    3. CDomestic robot
    4. DAndroid
26. 2626. Which of the following is not use for robot?

    1. AMaintenance and repair
    2. BAssembly line
    3. CExploration
    4. DMental calculation
27. 2727. Which of the following statement is incorrect?

    1. AAutomation is the application of machines to tasks once performed by people.
    2. BAutomation control devices manage themselves once given suitable instructions.
    3. CFeedback principle used in automation control is a recent development
    4. DDevelopment of automation has becomes dependent on the use of computer technology.
28. 2828. Which of the following is the person who wrote the three laws of robotics?

    1. AIsaac Asimov
    2. BKarel Capek
    3. CJoseph-Marie Jacquard
    4. DRichard Hohn
29. 2929. Which of the following is an input device that measures data from the environment?

    1. AActuator
    2. BMicrocontroller
    3. CAutomated control
    4. DSensor
30. 3030. Which of the following is a sensor that measures the movement of an object?

    1. APressure sensor
    2. BAction sensor
    3. CMotion sensor
    4. DTouch sensor
31. 3131. Which of the following is a device that receive information from an input device and changes the output if required?

    1. AMicroprocessor
    2. BSending device
    3. CController
    4. DActuator
32. 3232. Which of the following is the most common type of actuator?

    1. AElectric motor
    2. BStepper motor
    3. CSolenoid
    4. DHydraulic pump
33. 3333. What DOF mean?

    1. ADo of Force
    2. BDegree of Freedom
    3. CDoing of Force
    4. DDegree of Force
34. 3434. Automated systems use automated control to perform a task.

    1. Atrue
    2. Bfalse
35. 3535. General robotics arms have seven degrees of freedom.

    1. Atrue
    2. Bfalse
36. 3636. What is the third laws of robot’s by science fiction author Isaac Asimov?

    1. ARobot can work independently
    2. BA robot cannot destroy itself
    3. CRobot can see the object.
    4. DRobot must have legs.
37. 3737. The Basic Components of a Robotic System are.

    1. AController and Mechanical robot arm
    2. BController and sensors
    3. CRobot arm and camera
    4. DRobot arm and gripper
38. 3838. Robots are changing the nature of manufacturing system.

    1. Atrue
    2. Bfalse
39. 3939. Mechanically, a robot is composed of

    1. ATool, wrist and controller
    2. BArm, wrist and tool
    3. CSensor, arm and tool
    4. DDevice, wrist and tool
40. 4040. Six different lower-pair joints possible are

    1. Ao revolute (rotary), prismatic (sliding), cylindrical, spherical, linear, and planar.
    2. Bo revolute (rotary), prismatic (sliding), cylindrical, spherical, screw, and planar.
    3. Co position, prismatic (sliding), cylindrical, spherical, screw, and planar.
    4. Do revolute (rotary), prismatic (sliding), cylindrical, spherical, screw, and 3D.
41. 4141. What are the common joints for the manipulator?

    1. Ao rotary and roll
    2. Bo rotary and prismatic
    3. Co yaw and prismatic
    4. Do rotary and DOF
42. 4242. In most general instances, robot kinematics model contains of

    1. Ao geometric and mechanical parameters
    2. Bo geometric and non-geometric parameters
    3. Co machine and non-geometric parameters
    4. Do geometric and non-algebraic parameters
43. 4343. The basic robot configuration of Cartesian Coordinates has

    1. Ao Six Linear Axes
    2. Bo No Linear Axes
    3. Co DOF Linear Axes
    4. Do Three Linear Axes
44. 4444. The basic robot configuration of Cylindrical Coordinates has

    1. Ao Three Linear, One Rotary
    2. Bo Six Linear, Two Rotary
    3. Co One Linear, Two Rotary
    4. Do Three Linear, Three Rotary
45. 4545. The basic robot configuration of Spherical Coordinates has

    1. Ao Two Linear, Two Rotary
    2. Bo Six Linear, Two Rotary
    3. Co Three Linear, Three Rotary
    4. Do One Linear, Two Rotary
46. 4646. The basic robot configuration of Revolute or Articulated has

    1. Ao Three Rotary
    2. Bo One Rotary
    3. Co Two Rotary
    4. Do Six Rotary
47. 4747. Common Gripper Structure compose of

    1. Ao joint, pitch, yaw
    2. Bo roll, pitch, yaw
    3. Co roll, pitch, link
    4. Do link, pitch, roll
48. 4848. The three coordinate systems described are

    1. AWorld, Base and tool coordinates
    2. BX, Y and Z coordinates.
    3. CRoll, Pitch and Yaw coordinates.
    4. DWorld, Base and space coordinates
49. 4949. There two problems are related with the robot arm kinematics are.

    1. Ao Direct kinematics and Forward kinematics
    2. Bo Dynamics and inverse kinematics
    3. Co Direct kinematics and Inverse kinematics
    4. Do Dynamics and control
50. 5050. The inputs for the direct kinematics are?

    1. Ao Joint force
    2. Bo Joint angles
    3. Co Angular momentum
    4. Do Joint velocity
51. 5151. The output of the inverse kinematics are

    1. Ao Joint force
    2. Bo Joint angles
    3. Co Angular momentum
    4. Do Joint velocity
52. 5252. The Homogeneous Transformation Matrices consists of

    1. Ao Velocity and Rotation Matrices
    2. Bo Acceleration and Rotation coordinates
    3. Co Position Vector and Rotation Matrices
    4. Do Position Vector and base Matrices
53. 5353. The concept of a homogeneous-coordinate representation of points in a three-dimensional euclidean space is useful in developing matrix transformations that include -

    1. ARotation, translation, scaling, and perspective transformation
    2. BRotation, translation, position, and perspective transformation
    3. CRotation, translation, scaling, and orientation transformation
    4. DBase, translation, scaling, and perspective transformation
54. 5454. Basic homogeneous rotation matrices n, s, a, p. What n stands for?

    1. Ao position vector of the hand.
    2. Bo sliding vector of the hand.
    3. Co normal vector of the hand
    4. Do approach vector of the hand.
55. 5555. Basic homogeneous rotation matrices n, s, a, p. What s stands for?

    1. Ao normal vector of the hand.
    2. Bo position vector of the hand.
    3. Co sliding vector of the hand.
    4. Do approach vector of the hand.
56. 5656. Basic homogeneous rotation matrices n, s, a, p. What a stands for?

    1. Ao normal vector of the hand.
    2. Bo position vector of the hand.
    3. Co approach vector of the hand.
    4. Do sliding vector of the hand.
57. 5757. Basic homogeneous rotation matrices n, s, a, p. What p stands for?

    1. Ao normal vector of the hand.
    2. Bo position vector of the hand.
    3. Co sliding vector of the hand.
    4. Do approach vector of the hand.
58. 5858. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where qi stands for -

    1. Ao the joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
    2. Bo the distance from the origin of the (i-1)th coordinate frame to the intersection of the zi-1 axis with the xi axis along the zi-1 axis.
    3. Co is the offset distance from the intersection of the zi-1 axis with the xi axis to the origin of the ith frame along the xi axis.
    4. Do the offset angle from the zi-1 axis to the zi axis about the xi axis.
59. 5959. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where di stands for -

    1. Ao the joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
    2. Bo the distance from the origin of the (i-1)th coordinate frame to the intersection of the zi-1 axis with the xi axis along the zi-1 axis.
    3. Co is the offset distance from the intersection of the zi-1 axis with the xi axis to the origin of the ith frame along the xi axis.
    4. Do the offset angle from the zi-1 axis to the zi axis about the xi axis.
60. 6060. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where ai stands for -

    1. Ao the offset angle from the zi-1 axis to the zi axis about the xi axis.
    2. Bo the distance from the origin of the (i-1)th coordinate frame to the intersection of the zi-1 axis with the xi axis along the zi-1 axis.
    3. Co is the offset distance from the intersection of the zi-1 axis with the xi axis to the origin of the ith frame along the xi axis
    4. Do the joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
61. 6161. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where αi stands for -

    1. Ao is the offset distance from the intersection of the zi-1 axis with the xi axis to the origin of the ith frame along the xi axis.
    2. Bo the joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
    3. Co the offset angle from the zi-1 axis to the zi axis about the xi axis.
    4. Do the distance from the origin of the (i-1)th coordinate frame to the intersection of the zi-1 axis with the xi axis along the zi-1 axis.
62. 6262. Sequential steps to derive kinematics model is -

    1. Ao Assign position coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix.
    2. Bo Assign the rotation and position matrixes, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix.
    3. Co Assign D-H coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix
    4. Do Assign rotational coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix.
63. 6363. Puma 560 is a –

    1. Ao Robot controller name
    2. Bo A robot name
    3. Co A tool name
    4. Do A robot operation name.
64. 6464. To solve the joint variables which can bring the robot to the desired configuration, we have to use -

    1. Ao Control algorithms
    2. Bo Inverse Kinematics
    3. Co Forward Kinematics
    4. Do L-E model of dynamics
65. 6565. Rotation matrix representation needs how many elements to completely describe the orientation of a rotating rigid body?

    1. A6
    2. B9
    3. C3
    4. D0
66. 6666. Robot arm dynamics deals with the -

    1. Ao mathematical formulations of the equations of robot arm position.
    2. Bo mathematical formulations of the equations of robot arm velocity.
    3. Co mathematical formulations of the equations of robot arm motion
    4. Do mathematical formulations of the equations of robot arm acceleration.
67. 6767. Which formulations were used to the robot arm dynamic problem?

    1. Ao Lagrange-Euler and Kinematics formulations
    2. Bo Lagrange-Euler and Newton-Euler formulations
    3. Co D-D and Dynamic formulations
    4. Do Lagrange-Euler and D-H formulations
68. 6868. Lagrangian function can be described as

    1. Ao kinetic energy K - mass m
    2. Bo kinetic energy K - potential energy P
    3. Co Gravitational force g - potential energy P
    4. Do Base coordinate – Tool coordinate
69. 6969. Kinetic Energy is a

    1. AScalar quantity
    2. BVector quantity
    3. CDynamic quantity
    4. DStatic quantity
70. 7070. The Motion Equations of a Manipulator has the components of –

    1. Athe dynamic-related term, the kinematics-related term and the gravity term.
    2. Bthe acceleration-related term, the velocity-related term and the gravity term.
    3. Cthe mass-related term, the velocity-related term and the gravity term.
    4. Dthe force-related term, the velocity-related term and the gravity term.
71. 7171. The Newton-Euler formulation is based on the -

    1. Alaws governing the dynamics of rigid bodies.+
    2. Blaws governing the kinematics of rigid bodies.
    3. Claws governing the dynamics of controlled bodies.
    4. Dlaws governing the dynamics of moving bodies.
72. 7272. Trajectory Planning has two main issues –

    1. Ao satisfies motion constraints, and satisfies manipulator dynamics constraints.
    2. Bo satisfies kinematics constraints, and satisfies manipulator dynamics constraints
    3. Co satisfies path constraints, and satisfies manipulator dynamics constraints.
    4. Do satisfies path constraints, and satisfies manipulator kinematics constraints.
73. 7373. Trajectory planning schemes generally has –

    1. Ao Kinematics structure
    2. Bo Task specification
    3. Co Interpolate points (knot points)
    4. Do Dynamic information
74. 7474. There are mainly two types of trajectory generation –

    1. Ao joint trajectory and kinematics trajectory
    2. Bo joint trajectory and dynamic path trajectory
    3. Co joint trajectory and Cartesian path trajectory
    4. Do control trajectory and Cartesian path trajectory
75. 7575. In the Joint-Interpolated Trajectory, there are four positions for each arm motion are:

    1. Ainitial, set-down, lift-off and final position
    2. Binitial, lift-off, set-down, and final position
    3. Cinitial, set-down, lift-off, and complete position
    4. Dinitial, lift-off, final, and set-down position
76. 7676. The most common methods for trajectory planning are:

    1. A3-4-3 Trajectory, 3-5-3 Trajectory and 3-Cubic Trajectory
    2. B4-3-4 Trajectory, 5-5-5 Trajectory and 5-Cubic Trajectory
    3. C4-3-4 Trajectory, 3-5-3 Trajectory and 5-Cubic Trajectory
    4. D4-3-4 Trajectory, 4-5-4 Trajectory and 5-Cubic Trajectory
77. 7777. The control problem consists of :

    1. A(1) obtaining kinematics models of the manipulator and (2) using these models to determine control laws or strategies to achieve the desired system response and performance.
    2. B(1) obtaining dynamic models of the manipulator and (2) using these models to determine dynamics laws or strategies to achieve the desired system response and performance.
    3. C(1) obtaining dynamic models of the manipulator and (2) using these models to determine control laws or strategies to achieve the desired system response and performance.
    4. D(1) obtaining trajectory models of the manipulator and (2) using these models to determine control laws or strategies to achieve the desired system response and performance.
78. 7878. The movement of a robot arm is usually performed in two distinct control phases

    1. Agross motion and fine motion
    2. Bgross motion and velocity
79. 7979. Four Major robot control categories are:

    1. Ao Computed Torque Techniques, Resolved Motion Control, Adaptive Control, Future Trends in Robot Control
    2. Bo Joint Motion Control, Resolved Motion Control, Model Reference Adaptive Control, Future Trends in Robot Control
    3. Co Joint Motion Control, Resolved Motion Control, Adaptive Control, Future Trends in Robot Control
    4. Do Joint Motion Control, Resolved Motion Control, Adaptive Control, kinematics Control
80. 8080. Joint Motion Control algorithm can be categories as:

    1. AComputed Torque Techniques, Minimum-time Control, Variable Structure Control, Nonlinear Decoupled Feedback Control
    2. BComputed Torque Techniques, Minimum-time Control, Variable Structure Control, Self-tuning Adaptive Control
    3. CComputed Torque Techniques, Minimum-time Control, Neural-Network-Based Control, Nonlinear Decoupled Feedback Control
    4. DResolved Motion Force Control, Minimum-time Control, Variable Structure Control, Nonlinear Decoupled Feedback Control
81. 8181. Resolved Motion Control algorithm can be categories as:

    1. Ao Resolved Motion Rate Control, Minimum-time Control and Resolved Motion
    2. Bo Resolved Motion Rate Control, Nonlinear Decoupled Feedback Control and Resolved Motion Force Control
    3. Co Force Control Variable Structure Control, Resolved Motion Acceleration Control and Resolved Motion Force Control
    4. Do Resolved Motion Rate Control, Resolved Motion Acceleration Control and Resolved Motion Force Control
82. 8282. Adaptive Control algorithm can be categories as:

    1. AModel Reference Adaptive Control, Nonlinear Decoupled Feedback Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
    2. BModel Reference Adaptive Control, Self-tuning Adaptive Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
    3. CNonlinear Decoupled Feedback Control, Self-tuning Adaptive Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
    4. DModel Reference Adaptive Control, Resolved Motion Rate Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
83. 8383. Mechatronics is the science that:

    1. Ao Integrates mechanical devices with kinematics control.
    2. Bo Integrates mechanical devices with electronics control
    3. Co Integrates mechanical devices with motors control.
    4. Do Integrates dynamic control with kinematics control.
84. 8484. What is A/D stands for?

    1. Ao Analog to Driver
    2. Bo Amplifier to Devices
    3. Co Analog to Digital
    4. Do Analog Documentation
85. 8585. Robot Vision must be:

    1. Ao Perfect, Low-cost and Robust.
    2. Bo Computationally fast, processing and Robust.
    3. Co Computationally fast, Low-cost and Robust
    4. Do Computationally fast, Low-cost and systematic.
86. 8686. Spatial-Domain Methods of Image processing involving:

    1. Ao The neighborhood pixels
    2. Bo The straight line pixels
    3. Co The circle pixels
    4. Do The cross pixels
87. 8787. Sensors can be divided into two basic classes:

    1. Ao Out state sensors, in state sensors
    2. Bo Optical state sensors, vision state sensors
    3. Co Internal state sensors, external state sensors
    4. Do Decoder state sensors, encoder state sensors
88. 8888. The Optical Encoders are two types:

    1. AContact and noncontact
    2. BAbsolute and incremental
    3. CVision and infrared
    4. DClose and far
89. 8989. What is the device name that can - produce an analog voltage that increases (or decreases) with increasing (or decreasing) shaft angular velocity?

    1. Ao Potentiometer
    2. Bo Opt isolator
    3. Co DC Tachometers
    4. Do Accelerometer
90. 9090. The Strain Gages Force Sensors are used for?

    1. AHumidity
    2. BPresser
    3. CTemperature
    4. DVelocity
91. 9191. The types of evaluation criteria for sensors are:

    1. A• Sensitivity, Linearity, Range, Response time
    2. B• All of the above
    3. C• None of the above
    4. D• Accuracy, Repeatability, Resolution, Type of output, Physical consideration.
92. 9292. What kinds of programs can be tested and evaluated using simulation techniques?

    1. Ao On-line programing
    2. Bo Robot Operating Systems (ROS)
    3. Co Reference programing
    4. Do Off-line programing
93. 9393. How to use the robot to generate it’s program?

    1. Ao Using vision system
    2. Bo Using teach pendant
    3. Co Using touch sensor
    4. Do Using kinematics model
94. 9494. _ _ is the defining of desired motions so that the robot may perform them without human intervention.

    1. Ao Robot controller
    2. Bo Robot dynamics
    3. Co Robot programming
    4. Do Robot trajectory
95. 9595. The frame reference that fixed to the robot and should not move is

    1. Ao World coordinate
    2. Bo Base coordinate
    3. Co Tool frame
    4. Do Reference frame
96. 9696. The three robot programming techniques are

    1. Ao Dynamic level, kinematics level and joint level programming
    2. Bo Trajectory level, joint level and world level programming
    3. Co Joint level, Robot level and High level programming
    4. Do Component level, low level and high level programming
97. 9797. What are the constraints in trajectory planning?

    1. Ao Kinematics constraints and manipulator’s dynamics constraints
    2. Bo Force constraints and manipulator’s dynamics constraints
    3. Co Path constraints and manipulator’s dynamics constraints
    4. Do Kinematics constraints and manipulator’s configuration constraints
98. 9898. Type of robot has multiple degrees of freedom, but all of its actions are performed under the direct control of an operator.

    1. Ao Playback robot
    2. Bo Numerical control robot
    3. Co Fixed sequence robot
    4. Do Intelligent robot
99. 9999. Type of robot repeats a fixed sequence of actions without needing to be controlled by an operator.

    1. APlayback robot
    2. BFixed sequence robot
    3. CIntelligent robot
    4. DNumerical control robot
100. 100100. Type of robot is similar to class 2, except that the sequence of actions can be reprogrammed easily allowing it to be quickly adapted to perform new tasks.

     1. Ao Fixed sequence robot
     2. Bo Playback robot
     3. Co Variable sequence robot
     4. Do Numerical control robot
101. 101101. Type of robot is first guided through a sequence of actions by an operator, then repeats the same actions automatically.

     1. Ao Fixed sequence robot
     2. Bo Intelligent robot
     3. Co Playback robot
     4. Do Numerical control robot
102. 102102. Type of robot moves through a sequence of actions, which it receives in the form of numerical data.

     1. Ao Fixed sequence robot
     2. Bo Numerical control robot
     3. Co Intelligent robot
     4. Do Playback robot
103. 103103. A robot that senses its environment and responds to changes in it in order to continue performing its function.

     1. Ao Fixed sequence robot
     2. Bo Playback robot
     3. Co Intelligent robot
     4. Do Numerical control robot
104. 104104. This is the tool that is located at the end of the manipulator.

     1. Ao Joint
     2. Bo End effector
     3. Co Link
     4. Do Arm
105. 105105. This is an element that is designed to turn some kind of energy into mechanical force or movement.

     1. Ao Vision system
     2. Bo Arm length
     3. Co Twist
     4. Do Actuator
106. 106106. The device provide a robot with information about its own internal state and about its environment.

     1. Ao Actuator
     2. Bo End effector
     3. Co Sensor
     4. Do Joint angles
107. 107107. Type of joint adds one degree of freedom to a robot’s manipulator, allowing one of the two connected segments to be ‘translated’ (moved in a straight line without changing its orientation) in a particular direction relative to the other.

     1. Ao Long joint
     2. Bo Revolute joint
     3. Co Prismatic joint = translated
     4. Do Lock joint
108. 108108. Type of joint adds one degree of freedom to a manipulator, allowing one of the two connected segments to rotate relative to the other.

     1. Ao Prismatic joint
     2. Bo Link joint
     3. Co Revolute joint
     4. Do Moving joint
109. 109109. The set of all points the robot can reach is

     1. Ao Payload
     2. Bo Precision
     3. Co Workspace
     4. Do Repeatability
110. 110110. The maximum weight that robot can carry is

     1. Ao Workspace
     2. Bo Precision
     3. Co Payload
     4. Do Repeatability
111. 111111. Accurately the end effector can be positioned at the same point many times is

     1. Ao Payload
     2. Bo Precision
     3. Co Repeatability
     4. Do Workspace
112. 112112. Accurately the end effector can be positioned at a specified point is

     1. Ao Workspace
     2. Bo Repeatability
     3. Co Precision
     4. Do Payload
113. 113113. The kinematic equations for a robot arm provide expressions for the Cartesian coordinates of the end effector in terms of the joint angles (for revolute joints) and lengths (for prismatic joints) is

     1. Ao Dynamics
     2. Bo Forward kinematics + = joint-length
     3. Co Forward Dynamics
     4. Do Kinematics
114. 114114. The kinematic equations for a robot arm provide expressions for each of the joint angles and lengths in terms of the desired Cartesian coordinates of the end effector is

     1. Ao Forward Kinematics
     2. Bo Reverse Kinematics
     3. Co Inverse kinematics + = cartesian
     4. Do Control algorithms
115. 115115. Image processing generally convert

     1. AImage -> Data
     2. BData -> Image
     3. CImage -> Image
     4. DData -> Interpretation
116. 116116. Image Analysis generally convert

     1. AImage -> Data
     2. BImage -> Image
     3. CData -> Interpretation
     4. DData -> Image
117. 117117. Graphics generally convert

     1. Ao Data -> Interpretation
     2. Bo Image -> Data
     3. Co Image -> Image
     4. Do Data -> Image
118. 118118. Patter Recognition generally convert

     1. AData -> Interpretation
     2. BImage -> Data
     3. CData -> Image
     4. DImage -> Image
119. 119119. A image has 8 bit per pixel, what is the grey values?

     1. A256 grey values
     2. B8 grey values
     3. C512 grey values
     4. D2 grey values
120. 120120. Capture the image by camera, done by?

     1. Ao preprocessing
     2. Bo description
     3. Co sensing
     4. Do interpretation
121. 121121. ______ deals with techniques an image into object of interest.

     1. Ao sensing
     2. Bo segmentation
     3. Co recognition
     4. Do preprocessing
122. 122122. ______ deals with the computation of features (e.g., size, shape)suitable for differentiating one type of object from another.

     1. Ao recognition
     2. Bo interpretation
     3. Co description
     4. Do preprocessing
123. 123123. ________ is the process that identifies the objects.

     1. Ao sensing
     2. Bo segmentation
     3. Co recognition +
     4. Do preprocessing
124. 124124. Interpretation assigns meaning to an ensemble of recognized

     1. Ao preprocessing
     2. Bo segmentation
     3. Co interpretation
     4. Do recognition
125. 125125. The camera calibration is based on the assumption that the camera and world coordinate systems are coincident.

     1. ATrue
     2. BFalse
126. 126126. Any image, can be classified into four categories as:

     1. Adiffuse-lighting, sun-lighting, structure-lighting and reflected lighting
     2. BHomogeneous-lighting , back-lighting, structure-lighting and directional lighting
     3. Cdiffuse-lighting, back-lighting, structure-lighting and directional lighting
     4. Dcomposite-lighting, back-lighting, structure-lighting and directional lighting
127. 127127. Two different methods are commonly used for camera modelling are:

     1. Ao the picture method and the two planes model
     2. Bo the one planer method and the two planes model
     3. Co the pinhole method and the 2D planes model
     4. Do the pinhole method and the two planes model
128. 128128. There are two coordinates are involve in camera modeling are:

     1. ACartesian coordinate and space coordinate
     2. B3D coordinate and 2D coordinate
     3. CCartesian coordinate and camera coordinate
     4. DImage coordinate and camera coordinate
129. 129129. The sequential nature of robot arms is used to generate the ______ ______ models.

     1. Ao parallel kinematics
     2. Bo source kinematics
     3. Co serial kinematics
     4. Do kinematics system
130. 130130. Wrist determines orientation namely:

     1. Ao Position, orientation, and kinematics
     2. Bo Roll, Pitch, and revolute
     3. Co Roll, Pitch, and Yaw
     4. Do X-axis, Y-axis, and z-axis
131. 131131. In most general instances, robot kinematics model contains both ________ and ¬¬¬¬¬¬¬¬¬¬-_______ parameters.

     1. Ao geometric and trigonometric
     2. Bo Arm Length and twist
     3. Co Geometric and non-geometric
     4. Do General and complex
132. 132132. The position-dependent parameters such as the joint angles and displacement are called:

     1. Ao Non-geometric parameter
     2. Bo Link parameter
     3. Co Geometric parameter = angles and displacement
     4. Do Joint parameter
133. 133133. The position-independent parameters are the link lengths, twists, and off-sets which are geometrical and do not change as the manipulator is driven.

     1. Ao Geometric parameters
     2. Bo Twist parameters
     3. Co Non-geometric parameters
     4. Do D-H parameters
134. 134134. The coordinate systems described are:

     1. Ao Link, Base and Mechanical Interface (tool) coordinate systems
     2. Bo World, joint and Mechanical Interface (tool) coordinate systems
     3. Co World, Base and space coordinate systems
     4. Do World, Base and Mechanical Interface (tool) coordinate systems
135. 135135. In kinematics the u, v, and w axis are generally referred as

     1. Ao Body-attached coordinate
     2. Bo Base coordinate
     3. Co Reference coordinate
     4. Do Frame coordinate
136. 136 ■(1&0&0@0&cos∅&-sin∅@0&sin∅&cos∅) is the rotation matrix of

     1. AR_(x,∅)
     2. BR_(y,∅)
     3. CR_(x,∅) 〖.R〗_(r,∅)
     4. DR_(z,∅)
137. 137 ■(cos∅&0&sin∅@0&1&0@-sin∅&0&cos∅) is the rotation matrix of

     1. AR_(z,∅)
     2. BR_(x,∅) 〖.R〗_(r,∅)
     3. CR_(x,∅)
     4. DR_(y,∅)
138. 138 ■(cos∅&-sin∅&0@sin∅&cos∅&0@0&0&1) is the rotation matrix of

     1. AR_(x,∅)
     2. BR_(x,∅) 〖.R〗_(r,∅)
     3. CR_(y,∅)
     4. DR_(z,∅)
139. 139139. How many geometric parameters are associated with the D-H representation of a rigid link?

     1. Ao Three geometric parameters
     2. Bo Five geometric parameters
     3. Co Four geometric parameters
     4. Do Six geometric parameters
140. 140140. What is name of this symbol (ai) in the D-H representation?

     1. Ao Link Twist
     2. Bo Link Angle
     3. Co Link Length
     4. Do Link Distance
141. 141141. What is name of this symbol (αi) in the D-H representation?

     1. Ao Link Length
     2. Bo Link Distance
     3. Co Link Angle
     4. Do Link Twist
142. 142142. What is name of this symbol (qi) in the D-H representation?

     1. Ao Link Length
     2. Bo Link Twist
     3. Co Link Distance
     4. Do Link Angle
143. 143143. What is name of this symbol (di) in the D-H representation?

     1. Ao Link Length
     2. Bo Link Angle
     3. Co Link Distance
     4. Do Link Twist
144. 144144. Composite transformation matrix can be derive from

     1. AT=R_(z,d).R_(z,∅).T_(x,a).R_(x,α)
     2. BT=T_(z,d).R_(z,∅).R_(x,a).R_(x,α)
     3. CT=T_(z,d).R_(z,∅).T_(x,a).R_(x,α)
     4. DT=T_(z,d).T_(z,∅).T_(x,a).R_(x,α)
145. 145 What will be the resulting image if the image matrix is [■(2&3&0@1&2&0@2&-1&0)] and the convolution matrix is █(@■(1-1--1@1-8)1@@1--1@[│-1│] ) ?

     1. A[■(2&3&0@1&2&0@2&-1&1)]
     2. B[■(2&3&0@1&2&0@2&-1&0)]
     3. C[■(10&19&-5@-1&9&-4@14&-13&1)]
     4. D[■(10&19&-5@-1&9&-4@14&-13&-1)]
146. 146146. Composite transformation matrix can be derive from

     1. AT=T_(z,d).R_(z,∅).T_(x,a).R_(x,α)
     2. BT=R_(z,d).R_(z,∅).T_(x,a).R_(x,α)
     3. CT=T_(z,d).R_(z,∅).R_(x,a).R_(x,α)
     4. DT=T_(z,d).T_(z,∅).T_(x,a).R_(x,α)
147. 147 ■(cos∅&-sin∅&0@sin∅&cos∅&0@0&0&1) is the rotation matrix of

     1. AR_(x,∅)
     2. BR_(y,∅)
     3. CR_(z,∅)
     4. DR_(x,∅) 〖.R〗_(r,∅)
148. 148 ■(1&0&0@0&cos∅&-sin∅@0&sin∅&cos∅) is the rotation matrix of

     1. AR_(x,∅)
     2. BR_(y,∅)
     3. CR_(z,∅)
     4. DR_(x,∅) 〖.R〗_(r,∅)
149. 149149. ________ is the process that identifies the objects.

     1. Ao sensing
     2. Bo preprocessing
     3. Co recognition
     4. Do segmentation
150. 150150. d and Ϭ known as the ________ translation and differential rotation vectors.

     1. Ao Direct
     2. Bo Integral
     3. Co Differential
     4. Do Cross
151. 151151. The _______ ___ and ________ _____ formulations were used to the robot arm dynamic problem.

     1. Ao Newton-Lagrange and Euler
     2. Bo Lagrange-Euler and Newton-Euler
     3. Co Euler-Jone and Newton-theory 1st law and 2nd law
     4. Do 2nd derivative and the 1st derivative
152. 152 τ_i=d/"dt" (∂L/(∂q_i ))-∂L/(∂q_i ) "\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ " i=1,2,"\.\.\.\.",n this is used for the manipulator’s __________.

     1. Ao Kinematics
     2. Bo Dynamic
     3. Co Control
     4. Do System
153. 153In this L(q,q┴"\." )=┴Δ K(q,q┴"\." )-P(q) equation K is representing:

     1. Ao Total potential energy of the robot arm.
     2. Bo Generalized coordinates of the robot arm.
     3. Co Total kinetic energy of the robot arm
     4. Do First time derivative of the generalized coordinate.
154. 154 In this L(q,q┴"\." )=┴Δ K(q,q┴"\." )-P(q) equation P is representing:

     1. Ao Total kinetic energy of the robot arm.
     2. Bo First time derivative of the generalized coordinate.
     3. Co Generalized coordinates of the robot arm.
     4. Do Total potential energy of the robot arm.
155. 155 v_i≡v_i=d/"dt" (r_i)=d/"dt" (A_i r_i)="\ \ " [∑_(j=1)^i▒〖(∂"\ \ "A_i)/(∂"\ \ \ "q_i ) q ˙_j 〗] r_i where iri is:

     1. Ao iri be a point fixed and at rest in a link I
     2. Bo iri be is point moving at rest in a link i
     3. Co iri be is mass and at rest in a link i
     4. Do iri be is the distance between the two points in the link
156. 156 K=1/2 〖"MV" 〗^2 is a:

     1. Ao Real quantity
     2. Bo Vector quantity
     3. Co Coefficient quantity
     4. Do Scalar quantity
157. 157157. Ji is the ___ ____ ____ or pseudo-inertia matrix, dependent on the mass distribution of link i.

     1. Ao Link representation matrix
     2. Bo Link parameter matrix
     3. Co Link inertia matrix
     4. Do Link Job matrix
158. 158 P_i=-m_i gr ¯_i=-m_i g(A_i r ¯_i)"\ \ \ \ \ \ \ \ \ " i=1,2,"\.\.\.\.\.",n where Pi is:

     1. Ao Purposeful energy
     2. Bo Pointing energy
     3. Co Potential energy
     4. Do Progressive energy
159. 159 τ(t)=D(q(t))q┴"\.\." (t)+h(q(t),q┴"\." (t))+c(q(t)) this equation represent the:

     1. Ao Force Equations of a Manipulator
     2. Bo Trajectory Equations of a Manipulator
     3. Co Motion Equations of a Manipulator
     4. Do Acceleration Equations of a Manipulator
160. 160 What this equation represents L=[1/2 m s┴"\." s┴"\." +1/2 ω^T Iω]+[∑_(i=1)^n▒〖m_i g(A_i r ¯_i)〗]

     1. Ao Newton’s function
     2. Bo Lagrangian function
     3. Co Integration function
     4. Do Summation function
161. 161161. What is the second segment for the 4-3-4 trajectory planning?

     1. Ah_n (t)=a_n4 t+a_n3 t^3+a_n2 t^2+a_n1 t^1+a_n0
     2. Bh_2 (t)=a_"\2\3" t^3+a_"\2\2" t^2+a_"\2\1" t^1+a_"\2\0" +
     3. Ch_n (t)=a_n4 t^4+a_n3 t^2+a_n2 t^2+a_n1 t^1+a_n0
     4. Dh_n (t)=a_n4 t^4+a_n3 t^3+a_n2 t^2+a_n1 t+a_n0
162. 162162. What is the third segment for the 4-3-4 trajectory planning?

     1. Ah_n (t)=a_n4 t^5+a_n3 t^3+a_n2 t^2+a_n1 t+a_n0
     2. Bh_n (t)=a_n4 t^4+a_n3 t^2+a_n2 t^2+a_n1 t^1+a_n0
     3. Ch_n (t)=a_n4 t^4+a_n3 t^3+a_n2 t^2+a_n1 t^1+a_n0
     4. Dh_2 (t)=a_"\2\3" t^3+a_"\2\2" t^2+a_"\2\1" t^1+a_"\2\0"
163. 163163. What is the first segment for the 4-3-4 trajectory planning?

     1. Ah_2 (t)=a_"\2\3" t^3+a_"\2\2" t^2+a_"\2\1" t^1+a_"\2\0"
     2. Bh_n (t)=a_n4 t^4+a_n3 t^2+a_n2 t^2+a_n1 t^1+a_n0
     3. Ch_n (t)=a_n4 t^4+a_n3 t^3+a_n2 t^2+a_n1 t^1+a_n0
     4. Dh_n (t)=a_n4 t^5+a_n3 t^3+a_n2 t^2+a_n1 t+a_n0
164. 164164. _____ is the science that integrates mechanical devices with electronics control.

     1. Ao Electrical Systems
     2. Bo Robotics
     3. Co Mechatronics
     4. Do Mechanical systems
165. 165165. The Proportional plus Integral plus Derivative (PID) is a ______ method.

     1. Ao Dynamics
     2. Bo Motor
     3. Co Turbo
     4. Do Control
166. 166166. There are mainly two methods for the manipulator force control:

     1. AImpedance control and hybrid control.
     2. BPID control and PD control.
     3. CForward control and feedback control.
     4. DKinematics control and dynamics control.
167. 167167. Hybrid control uses two feedback loops for direct separate control of ______ and ____.

     1. Ao kinematics and Inverse kinematics
     2. Bo position and force
     3. Co control and force
     4. Do control and position
168. 168168. Ability to repeat between several measurements is:

     1. Ao Resolution
     2. Bo Work
     3. Co Automation
     4. Do Repeatability
169. 169169. Different between measured and actual is:

     1. Ao Resolution
     2. Bo Digital/Analog
     3. Co Accuracy
     4. Do Values
170. 170 v_i≡v_i=d/"dt" (r_i)=d/"dt" (A_i r_i)="\ \ " [∑_(j=1)^i▒〖(∂"\ \ "A_i)/(∂"\ \ \ "q_i ) q ˙_j 〗] r_i where iri is:

     1. Ao iri be is mass and at rest in a link i
     2. Bo iri be a point fixed and at rest in a link I
     3. Co iri be is point moving at rest in a link i
     4. Do iri be is the distance between the two points in the link
171. 171 K=1/2 〖"MV" 〗^2 is a:

     1. Ao Real quantity
     2. Bo Coefficient quantity
     3. Co Vector quantity
     4. Do Scalar quantity
172. 172172. Ji is the ___ ____ ____ or pseudo-inertia matrix, dependent on the mass distribution of link i.

     1. Ao Link parameter matrix
     2. Bo Link Job matrix
     3. Co Link representation matrix
     4. Do Link inertia matrix
173. 173 P_i=-m_i gr ¯_i=-m_i g(A_i r ¯_i)"\ \ \ \ \ \ \ \ \ " i=1,2,"\.\.\.\.\.",n where Pi is:

     1. Ao Purposeful energy
     2. Bo Progressive energy
     3. Co Potential energy
     4. Do Pointing energy
174. 174 τ(t)=D(q(t))q┴"\.\." (t)+h(q(t),q┴"\." (t))+c(q(t)) this equation represent the:

     1. Ao Force Equations of a Manipulator
     2. Bo Motion Equations of a Manipulator
     3. Co Trajectory Equations of a Manipulator
     4. Do Acceleration Equations of a Manipulator
175. 175 What this equation represents L=[1/2 m s┴"\." s┴"\." +1/2 ω^T Iω]+[∑_(i=1)^n▒〖m_i g(A_i r ¯_i)〗]

     1. Ao Newton’s function
     2. Bo Integration function
     3. Co Lagrangian function
     4. Do Summation function
176. 176178. _____ is the science that integrates mechanical devices with electronics control.

     1. Ao Robotics
     2. Bo Mechatronic
     3. Co Mechanical systems
     4. Do Electrical Systems
177. 177179. The Proportional plus Integral plus Derivative (PID) is a ______ method.

     1. Ao Control
     2. Bo Motor
     3. Co Turbo
     4. Do Dynamics
178. 178 A point a_"uvw" =(4,3,2) is attached to a rotating frame, the frame rotates 60 degree about the OZ axis of the reference frame. Find the coordinates of the point relative to the reference frame after the rotation.

     1. A[■(-0"\.\5\9\8"@4"\.\9\6\4"@2)]
     2. B[■(2@4"\.\9\6\4"@-0"\.\5\9\8" )]
     3. C[■(-0"\.\5\9\8"@2@4"\.\9\6\4" )]
     4. D[■(-0"\.\5\9\8"@4"\.\9\6\4"@0)]
179. 179181. What is the purpose of the Photo Resistor?

     1. Ao to identify the pressure
     2. Bo to identify the vibration
     3. Co to identify the changes of light
     4. Do to identify the humidity
180. 180182. What is the output from the temperature sensor?

     1. Ao 10 millivolts peer degree centigrade
     2. Bo Pressure output of the motor
     3. Co Temperature in centigrade
     4. Do Robot joint temperature
181. 181183. What kind of vibration sensor used in sensory device lab?

     1. Ao Resistive vibration sensor
     2. Bo control vibration sensor
     3. Co photo resistor sensor
     4. Do Piezo vibration sensor
182. 182184. What is Arduino.

     1. Ao the robot name
     2. Bo a computer name
     3. Co open-source single board input/output controller hardware and software
     4. Do the name of the Black robot
183. 183185. What is GND pin of Arduino?

     1. Ao Digital input
     2. Bo Analog input
     3. Co Ground
     4. Do PWM
184. 184186. How many digital pins are there in Arduino?

     1. A14
     2. B10
     3. C9
     4. D7
185. 185187. Which of these is a digital input device?

     1. Ao servo
     2. Bo vibration sensor
     3. Co tеmperature sensor
     4. Do push button
186. 186188. Arduino code “delay(t)”; t is in

     1. Ao microsec
     2. Bo nanosec
     3. Co sec
     4. Do millisec

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Quiz on anya, created by Anelya Aidarbek on 20/05/2018.

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Anelya Aidarbek

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