Question 1 [35 points]Choose the correct answer:
1- 1. ------------------ are another kind of motors that don't require feedback.
a. DC motors b. Ac motors c. Dual motors d. Servo motors
2- If we decrease the speed of the DC motor using gearbox the ---------------------- increases
a. Torque b. Power c. PWM d. Feedback
3- ------------------- is a good choice for controlling the power delivered to a large load.
a. H-bridge b. ON-OFF control c. PWM d. PPM
4- Stepper motors control is directly compatible with -------------------- technology
a. Analog b. Digital c. Sensor d. Both b and c
5- Data transfer from the sensor to the CPU can be Sensor-initiated by "--------------------technique"
a. polling b. interrupt c. software d. FIFO
6- -------------------- can be used to control the direction of DC-motor
a. H-bridge b. Half H-Bridge c. Two half H-Bridge d. Both a and c
7- --------------------- is not suitable for simple open-loop control systems.
a. DC-Motor b. Servo Motor c. Stepper Motor d. none
8- Adding Integral part to proportional controller ----------------- the steady state error
a. Increases b. Sustains c. Decreases d. Removes
9- -------------------- are sufficient to locate the position of the motor shaft
a. Incremental encoder b. Absolute encoder c. Analog encoder d. Both a and b
10- The speed of a stepper motor can be controlled by
a. PWM b. Software delay c. H-Bridge d. Feedback
11- In PWM speed control, the relation between duty cycle and motor speed is ------------------.
a. Linear b. Proportional c. Non-linear d. Both b and c
12- ----------------------- is easier to program for applications that require precise navigation.
a. Gantry Robot b. Arm Robot c. Mobile Robot d. none
13- ------------------- is used to modify ON-OFF control system to decrease high switching frequency.
a. Integration b. Delay c. Hysteresis d. PWM
14- -------------- sensor is an active sensor.
a. Battery b. Sonar c. On-board camera d. Compas
15- The percentage of time a motor is ON represents ---------------------
a. PWM b. Duty cycle c. Power cycle d. Speed
16- --------------- is a binary sensor.
a. Bumpers b. Battery sensor c. Inclinometer d. Gyroscope
17- When we used the camera sensor in mobile robot, we are interested in a high ---------------.
a. Brightness b. Resolution c. Data rate d. Frame rate
18- The number of sensors in the gray code shaft encoders determines its --------------
a. Position b. Angle c. resolution d. Speed
19- -------------- sensor is an internal local sensor
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a. Battery b. Sonar c. On-board camera d. Compas
20- Adding ---------------- part to the controller decreases the rise time
a. Integral b. Derivative c. Cumulative d. Proportional
21- Encoders are usually mounted directly on the
a. Motor shaft b. Wheel shaft c. Robot shaft d. Both a and b
22- ---------- measure the absolute orientation angle within a specified range, depending on the sensor model
a. Accelerometers b. Gyroscopes c. Shaft encoders d. Inclinometers
23- ---------------------- measures the rotational change of orientation about one axis
a. Compass b. Accelerometer c. Gyroscope d. Inclinometer
24- -------------------- multitasking means that each of the parallel tasks needs to be “well behaved” and does
transfer control explicitly to the next waiting thread
a. Cooperative b. Preemptive c. Semaphores d. Both a and b
25- One disadvantage of ------------------ is that they require a street or some sort of flat surface for driving
a. Mobile robots b. Wheeled robots c. Legged robots d. Both a and b
26- ------------------ have two independent coils which can be independently controlled
a. Stepper motors b. Servo motors c. DC-motors d. AC- motors
27- ------------------ consists of DC-motor, gearbox, and optical or magnetic encoder.
a. Robot b. Servo motors c. Stepper motors d. Encapsulated motor
28- Pulse Width Modulation is a type of ---------------- speed control
a. linear b. Analog c. digital d. PID
29- Half H-Bridge consists of --------------- electronic switches
a. 2 b. 4 c. 8 d. none
30- ------------ control is an essential topic for embedded systems, bringing together actuators and sensors
with the control algorithm in software
a. Open loop b. Closed loop c. ON-OFF d. Hardware
31- Duty cyle =
a. Toff/Tperiod b. Ton/Tperiod c. Ton/Toff d. Toff/Ton
32- Servo motor has ------ wire/s
a. 1 b. 3 c. 2 d. 4
33- A ------------- is a high quality DC motor that is qualified to be used in servoing applications
a. DC motor b. Servo motor c. Stepper motor d. AC motor
34- --------------------- is considered as analog sensor
a. incremental shaft encoder b. Microphone c. absolute shaft encoder d. gray encoder
35- Stepper motors have a larger --------------------- ratio than DC-motors
a. speed/performance b. weight/performance c. speed/power d. weight/power
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