11. Give the functions of sensor integration and sensor interpretation in layered architecture in Mobile robotics.
The sensor integration and sensor interpretation deals with input from the real world. They perform sensor interpretation by analyzing the data from the sensor and perform sensor integration by combining the analysis of different sensor inputs.
12. What is TCA?
TCA means Task-Control Architecture used to control numerous mobile robots. TCA is based on hierarchies of tasks, or task trees. In TCA the parent tasks initiate child tasks. The software designer can define temporal dependencies between pairs of tasks.
13. What are the functions supported by TCA’s implicit invocation mechanisms?
TCA’s implicit invocation mechanisms support three functions:
. Exceptions
. Wiretapping
. Monitors
14. What do you mean by wiretapping?
Messages can be intercepted by tasks superimposed on an existing task tree. For instance, a safety-check component can use this feature to validate outgoing motion commands.
15. What are Monitors?
Monitors read information and execute some action if the data fulfills a certain criterion. Monitors will offer a convenient way of dealing with fault-tolerance issues by setting aside agents to supervise the system.
16. What are components of the CODGER architecture?
• The components of the CODGER architecture are as follows:
• The “captain” : the overall supervisor.
• The “map navigator”: the high-level path planner.
•The “lookout”: a module that monitors the environment for landmarks.
• The “pilot”: the low-level path planner and motor controller.
• The perception subsystem: the modules that accept the raw input from multiple
sensors and integrate it into a coherent interpretation.
17. Name the architecture style that mostly supports the Mobile Robotics.
The Black board architecture is more suitable for mobile robotics, since it can saturate all the four requirements such as deliberative and reactive behavior, uncertainty, account for dangers, flexibility.
18. Which architectural style is followed by Cruise Control and why?
The Control-Loop architectural style is followed by Cruise Control. The architectural style is appropriate here because the software is embedded in a physical system that involves continuing behavior, especially when the system is subjected to external perturbations.
19. Illustrate the Booch Block Diagram for Cruise Control.
System on/off
Engine on/off
Cruise
Control
System
Pulses from Wheel
Accelerator
Brake
Increase/decrease speed
Resume Speed
Clock
Throttle
20. Briefly explain the Cruise Control Problem.
The Cruise Control Problem explains the problem in maintaining the speed of a car, even over varying terrain; also, whenever the system is active, determine the desired speed, and control the engine throttle setting to maintain that speed.
21. Identify the essential System elements of the Cruise Control System.
• Computational elements:
o Process definition
o Control Algorithm
• Data elements:
o Controlled variable
o Manipulated Variable
o Set point
o Sensor for controlled variable
22. How does the cruise controller set the throttle?
• On/Off Control
• Proportional Control
• Proportional plus Reset Control
23. Define Rule-based system.
A Rule-based system provides a means of codifying the problem-solving skills of human experts who tend to capture problem-solving techniques as sets of situation-action rules whose execution or activation is sequenced in response to the conditions of the computation rather than by a predetermined scheme.
24. Summarize the basic features of Rule-based systems.
The basic features are:
• It makes heavy use of pattern matching and context
• Adding special mechanisms for these facilities to the design yields the more
complicated view.
25. Justify: The rule-based model followed by PROVOX is itself a design structure.
The rule-based model calls for a set of rules whose control relations are determined during execution by the state of the computation. It provides a virtual-machine to support this model.
The sensor integration and sensor interpretation deals with input from the real world. They perform sensor interpretation by analyzing the data from the sensor and perform sensor integration by combining the analysis of different sensor inputs.
12. What is TCA?
TCA means Task-Control Architecture used to control numerous mobile robots. TCA is based on hierarchies of tasks, or task trees. In TCA the parent tasks initiate child tasks. The software designer can define temporal dependencies between pairs of tasks.
13. What are the functions supported by TCA’s implicit invocation mechanisms?
TCA’s implicit invocation mechanisms support three functions:
. Exceptions
. Wiretapping
. Monitors
14. What do you mean by wiretapping?
Messages can be intercepted by tasks superimposed on an existing task tree. For instance, a safety-check component can use this feature to validate outgoing motion commands.
15. What are Monitors?
Monitors read information and execute some action if the data fulfills a certain criterion. Monitors will offer a convenient way of dealing with fault-tolerance issues by setting aside agents to supervise the system.
16. What are components of the CODGER architecture?
• The components of the CODGER architecture are as follows:
• The “captain” : the overall supervisor.
• The “map navigator”: the high-level path planner.
•The “lookout”: a module that monitors the environment for landmarks.
• The “pilot”: the low-level path planner and motor controller.
• The perception subsystem: the modules that accept the raw input from multiple
sensors and integrate it into a coherent interpretation.
17. Name the architecture style that mostly supports the Mobile Robotics.
The Black board architecture is more suitable for mobile robotics, since it can saturate all the four requirements such as deliberative and reactive behavior, uncertainty, account for dangers, flexibility.
18. Which architectural style is followed by Cruise Control and why?
The Control-Loop architectural style is followed by Cruise Control. The architectural style is appropriate here because the software is embedded in a physical system that involves continuing behavior, especially when the system is subjected to external perturbations.
19. Illustrate the Booch Block Diagram for Cruise Control.
System on/off
Engine on/off
Cruise
Control
System
Pulses from Wheel
Accelerator
Brake
Increase/decrease speed
Resume Speed
Clock
Throttle
20. Briefly explain the Cruise Control Problem.
The Cruise Control Problem explains the problem in maintaining the speed of a car, even over varying terrain; also, whenever the system is active, determine the desired speed, and control the engine throttle setting to maintain that speed.
21. Identify the essential System elements of the Cruise Control System.
• Computational elements:
o Process definition
o Control Algorithm
• Data elements:
o Controlled variable
o Manipulated Variable
o Set point
o Sensor for controlled variable
22. How does the cruise controller set the throttle?
• On/Off Control
• Proportional Control
• Proportional plus Reset Control
23. Define Rule-based system.
A Rule-based system provides a means of codifying the problem-solving skills of human experts who tend to capture problem-solving techniques as sets of situation-action rules whose execution or activation is sequenced in response to the conditions of the computation rather than by a predetermined scheme.
24. Summarize the basic features of Rule-based systems.
The basic features are:
• It makes heavy use of pattern matching and context
• Adding special mechanisms for these facilities to the design yields the more
complicated view.
25. Justify: The rule-based model followed by PROVOX is itself a design structure.
The rule-based model calls for a set of rules whose control relations are determined during execution by the state of the computation. It provides a virtual-machine to support this model.
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