ACS6121 - Unit 07 (Autonomy, Systems and Applications)

Question 1

What is the difference between automation and autonomy?

Answer 1

Automation executes predefined actions with no real decision-making; autonomy involves planning and decision-making in complex environments.

Question 2

What is the highest level of autonomy in the PACT framework?

Answer 2

Level 5 – the robot acts fully independently and informs the human afterward.

Question 3

What are Mecanum wheels used for?

Answer 3

Enabling omnidirectional movement in wheeled robots.

Question 4

What defines static balance in legged robots?

Answer 4

Center of mass projection must remain within the support polygon; robot is stationary.

Question 5

What is the Zero Moment Point (ZMP)?

Answer 5

The point where the total moment from gravitational and dynamic forces is zero; used for dynamic balance.

Question 6

What is the difference between UAV and UAS?

Answer 6

UAV is the aerial robot; UAS includes the UAV and all supporting infrastructure.

Question 7

Which type of drone can hover and requires autopilot due to instability?

Answer 7

Rotary-wing drones, such as quadcopters.

Question 8

What is the ‘uncanny valley’ in robotics?

Answer 8

A phenomenon where robots that look almost human evoke discomfort or unease.

Question 9

What configuration allows a robot to rotate in place?

Answer 9

Differential drive (typically found in 3-wheeled robots).

Question 10

Why are personal companion robots designed with minimal human-like features?

Answer 10

To avoid triggering discomfort from the uncanny valley and improve user acceptance.

Question 11

1. Multiple Choice:
   What is required for a robot to achieve dynamic balance?
   A) Static posture
   B) Large support polygon
   C) Zero Moment Point (ZMP) remains inside support polygon
   D) Constant speed

Answer 11

→ Correct Answer: C

Question 12

2. True/False:
   At PACT Level 3, the robot acts without human intervention.

Answer 12

→ False

Question 13

3. Fill in the Blank:
   A robot is in static balance if its ___________ lies within its support polygon.

Answer 13

→ Center of mass projection

Question 14

4. Short Answer:
   Why do quadcopters require autopilots?

Answer 14

→ They are inherently unstable and need constant feedback control to maintain balance and orientation.

Question 15

5. Multiple Choice:
   Which robot type can operate in both aquatic and land environments?
   A) UAV
   B) UGV
   C) Salamandra Robotica
   D) Atlas

Answer 15

→ Correct Answer: C