MECHENG 4K03 Post MT2 Content| questions and
answers | latest update
List the disadvantages of the 3rd order polynomial - Must start with non-zero acceleration
interpolation method. - Vibration issues
List the main advantage and disadvantage of 5th order - Smoother acceleration
polynomial interpolation methods. - Complex required calculations
List the advantages and disadvantage of trapezoid - Common method, used for work in this class, simple computation
interpolation methods (linear segments with parabolic - Contains discontinuous acceleration (transitioning from the acceleration
to ends). constant velocity phase and vice versa)
List the advantages and disadvantages of S-curve time - Similar to trapezoid but with smooth acceleration (fixing discontinuity)
scaling. - Computational burden
Describe the affects of increasing maximum velocity in a - Increases the time within the acceleration stage, lowering the time of
trajectory path. constant velocity (forms a shape closer to a triangle then a trapezoid).
- Faster time to reach the end position.
Describe the affects of increasing maximum acceleration - Longer constant velocity section (acceleration time decreases)
in a trajectory path. - Steeper slope on acceleration
- Faster to each the end position
How does sampling time effect tracking of the trajectory More sampling = better path tracking (Increase frequency)
path?
Describe how contract/brightness are adjusted using Increasing gain (G) --> More contrast
point operations. Increasing bias (b) --> Increased brightness
Point operations affects each pixel in the photo the same amount.
What happens when you take the negative of an image? 255-gold (bright areas become dark and vice versa)
Why is the averaging algebraic operation used? Reduces variation, reducing noise in images
Why is the subtracting algebraic operation used? Spots differences between expected and actual images.
Is used for:
- Part position alignment
, - Part defects/inspection
- Removing background images
What does the gaussian filter do? - Reduces sudden changes in pixel levels
- Increases blurriness
- Reduces noise
- Less distinct edges
What does the Laplacian filter do? - Sharpens images
- Amplifies noise
- Amplifies sudden changes in pixels
What does the Sobel edge detection filter do? - Enhances vertical/horizontal edges
- Combines vertical/horizontal edges to detect edges on an image
What does thresholding an image do? - Converts an image to binary
- Emphasized pixels
Describe the process to preform edge detection. - Reduce noise (Gaussian filter/low pass filter)
- Edge enhancement (High-pass filter, can use Sobel edge enhancer)
- Edge detection (Thresholding)
How do you locate an image with orientation? - Find COM (x, y)
- Find major axes (covariance)
- Calculate orientation angle
What is a mobile robot? Robots capable of moving and navigating a known or unknown environment.
List some examples of mobile robots. - Robot vacuums
- Warehouse material handling robots
- Autonomous cars
- Food delivery (seen at Boston Pizza lol)
- Space rovers
List the needs for a mobile robot to function correctly. - Movement model to control the speed of wheels/other movement devices
- Sensors to take in information about the surrounding environment
List assumptions made to simplify the motion of a mobile - Rigid robot structure
robot. - Moves within a 2D plane (X, Y, phi (orientation)
- Wheels roll without slipping (ideal friction)
- Wheels are non-deformable
What's the main difference between holonomic & non- Holonomic robots are omni-directional, meaning they can travel in any arbitrary
holonomic robots? direction, where non-holonomic robots can only travel in one axis
(forward/backward, etc)
answers | latest update
List the disadvantages of the 3rd order polynomial - Must start with non-zero acceleration
interpolation method. - Vibration issues
List the main advantage and disadvantage of 5th order - Smoother acceleration
polynomial interpolation methods. - Complex required calculations
List the advantages and disadvantage of trapezoid - Common method, used for work in this class, simple computation
interpolation methods (linear segments with parabolic - Contains discontinuous acceleration (transitioning from the acceleration
to ends). constant velocity phase and vice versa)
List the advantages and disadvantages of S-curve time - Similar to trapezoid but with smooth acceleration (fixing discontinuity)
scaling. - Computational burden
Describe the affects of increasing maximum velocity in a - Increases the time within the acceleration stage, lowering the time of
trajectory path. constant velocity (forms a shape closer to a triangle then a trapezoid).
- Faster time to reach the end position.
Describe the affects of increasing maximum acceleration - Longer constant velocity section (acceleration time decreases)
in a trajectory path. - Steeper slope on acceleration
- Faster to each the end position
How does sampling time effect tracking of the trajectory More sampling = better path tracking (Increase frequency)
path?
Describe how contract/brightness are adjusted using Increasing gain (G) --> More contrast
point operations. Increasing bias (b) --> Increased brightness
Point operations affects each pixel in the photo the same amount.
What happens when you take the negative of an image? 255-gold (bright areas become dark and vice versa)
Why is the averaging algebraic operation used? Reduces variation, reducing noise in images
Why is the subtracting algebraic operation used? Spots differences between expected and actual images.
Is used for:
- Part position alignment
, - Part defects/inspection
- Removing background images
What does the gaussian filter do? - Reduces sudden changes in pixel levels
- Increases blurriness
- Reduces noise
- Less distinct edges
What does the Laplacian filter do? - Sharpens images
- Amplifies noise
- Amplifies sudden changes in pixels
What does the Sobel edge detection filter do? - Enhances vertical/horizontal edges
- Combines vertical/horizontal edges to detect edges on an image
What does thresholding an image do? - Converts an image to binary
- Emphasized pixels
Describe the process to preform edge detection. - Reduce noise (Gaussian filter/low pass filter)
- Edge enhancement (High-pass filter, can use Sobel edge enhancer)
- Edge detection (Thresholding)
How do you locate an image with orientation? - Find COM (x, y)
- Find major axes (covariance)
- Calculate orientation angle
What is a mobile robot? Robots capable of moving and navigating a known or unknown environment.
List some examples of mobile robots. - Robot vacuums
- Warehouse material handling robots
- Autonomous cars
- Food delivery (seen at Boston Pizza lol)
- Space rovers
List the needs for a mobile robot to function correctly. - Movement model to control the speed of wheels/other movement devices
- Sensors to take in information about the surrounding environment
List assumptions made to simplify the motion of a mobile - Rigid robot structure
robot. - Moves within a 2D plane (X, Y, phi (orientation)
- Wheels roll without slipping (ideal friction)
- Wheels are non-deformable
What's the main difference between holonomic & non- Holonomic robots are omni-directional, meaning they can travel in any arbitrary
holonomic robots? direction, where non-holonomic robots can only travel in one axis
(forward/backward, etc)
