robotics

Question 1

4 features of jobs first generation robots were designed for

Answer 1

Highly repetitive
Dull
Dangerous
Dirty

Question 2

3 classifications of robot by mobility

Answer 2

Fixed robot manipulators
mobile robots
Hybrid robots

Question 3

3 features of new generation robots

Answer 3

Embodied intelligence or AI
Acts on or is in the world
sense the world

Question 4

6 research challenge of robots

Answer 4

Autonomy
nano/micro robots
biological inspired robots
social robots
swarm robots
safety and ethical

Question 5

8 social challenges

Answer 5

AI
impact and benefits
safety issues
coexisting with robots
military and healthcare
perception
privacy
mis use

Question 6

3 laws of robot ethics

Answer 6

1. robot must not injure a human or allow a human to come to harm
2. A robot must obey orders from humans
3. Protect its own existence

Question 7

4 new algorithms of human robot interaction

Answer 7

fleet of self assembling robots
collaborative robots
physical assistance
learning robots

Question 8

8 uses of healthcare robotics

Answer 8

Training
Research
end of life care
treatment
keeping well
early detection
diagnosis
decision making

Question 9

4 main types of medical robot

Answer 9

navigation
motion replication
imaging
Rehabilitation and prosthetics

Question 10

most common type of medical robot

Answer 10

surgical

Question 11

3 types of robot primary power

Answer 11

Electric voltage
Hydraulic fluid
Pneumatic air

Question 12

stall torque is

Answer 12

the amount of rotational force produced
when the motor is stalled at its recommended operating
voltage, drawing the maximum stall current at this
voltage

Question 13

3 advantages of brushless dc motors

Answer 13

brushless
faster rate of voltage and current
precision voltage and current applied to coils

Question 14

what are 4 advantages of having no brushes on motors

Answer 14

increased relibility and efficiency
longer life
elimination of sparks from the commutator
reduced friction

Question 15

4 disadvantages of brushless dc motors

Answer 15

Requires Complex Drive Circuitry
Requires additional Sensors
Higher Cost
Some designs require manual labour (Hand wound Stator Coils)

Question 16

3 advantages of servo motors

Answer 16

• Closed-loop mechanism that controls the rotational or linear speed and
  position.
• Maintain relatively constant torque at high speeds
• Good accuracy

Question 17

2 disadvantages of servo motors

Answer 17

• Tuning a motor control loop can be difficult
• High spec servos can be expensive

Question 18

3 advantages of stepper motor

Answer 18

• Position control without a position sensor
• Controlled by digital signals – suitable for robotics
• High stall torques when stationar

Question 19

4 disadvantages of stepper motor

Answer 19

• Can miss steps if accelerated too fast – lost position/velocity precision
• Torque reduces at higher speeds
• Excessive vibrations (unless microstepping is used)
• More complex driving electronics than DC

Question 20

4 advantages of hydraulic actuators

Answer 20

High power to weight ratios
convenient and smooth method of power transmission
force control is easier
high force density

Question 21

3 disadvantages of hydraulic actuators

Answer 21

fire hazard is leaks
require maitenance
bulky

Question 22

4 advantages of pneumatic systems

Answer 22

weight
simpicity
no leak problems
Big forces with elasticity

Question 23

3 disadvantages of pneumatic systems

Answer 23

spacious
sealing limits on pressure
air is compressible

Question 24

wht is a shape malleable alloy

Answer 24

100% deformable when cold
returns to shpe when heated

Question 25

8 advantages of surgical robots

Answer 25

* Improved Accuracy * Operating in a radiation field * Better reach inside the body * 3D vision * Ergonomic design * Improve surgeon’s technical capability * Works alongside surgeon * Consistency and metrics

Question 26

4 disadvantages of surgical robots

Answer 26

* High cost * Additional staff training * Lack of randomized controlled trials * Safety issues

Question 27

5 comparitivie points for human vs robotic surgeon

Answer 27

judgement integrate multiple sources natural coordiantion seeing through tissue improvisation

Question 28

4 reasons why neurosurgery has most robotic advancement

Answer 28

* Brain firmly held in a solid container to which a robotic device is held in position * Brain anatomy is fairly stable * Brain imaging highly developed * The highest precisions required for brain surgeries

Question 29

how cn the need for some one o hold the camera in surgery be eliminated

Answer 29

laparoscopic camera holder

Question 30

advantages of da vinci system

Answer 30

removes tremors 3d magnification

Question 31

disadvantages of da vinci system

Answer 31

* Size & mobility * Tactile feedback * Cost (>£1M) * Long training times for surgeons * Long setting up time

Question 32

3 surgical specialities

Answer 32

forces used in surgery- feedback safety nd visualisation dexterity and tele-control

Question 33

whats measured to test muscle movement

Answer 33

electromyography

Question 34

Transducer

Answer 34

Mechanism that transforms the energy associated with what is being measured into another form of energy

Question 35

Passive Sensor

Answer 35

Environment provides medium/energy for observation (e.g., ambient light for computer vision)

Question 36

Active sensor

Answer 36

Puts out energy into the environment to either change energy or enhance it (e.g. sonar)

Question 37

Active sensing

Answer 37

Using an effector to dynamically position a sensor for a “better look”

Question 38

4 sensor outputs

Answer 38

electronics image signal processing computation

Question 39

What are inertial mesurement units

Answer 39

Estimates position, orientation and usually velocities and accelerations

Question 40

Aspects of GPS

Answer 40

signal may be unreliable unobstructed line of sight stelites depends on atmopheric conditions can pass through glass and plastic can provde 1-2m accuracy and faster updates

Question 41

4 disadvantages of ultrasound sensing

Answer 41

susceptible to specular refection graze the surface and not return may collide with a wall if pproaching at a steep angle humidity creates noisy measurements

Question 42

Laser Range finders principles

Answer 42

Same as sonar but with light

Question 43

Advantages of surgical robots

Answer 43

improved accuracy operating in a radiation field better reach 3d vision ergonomic design improve technical capability

Question 44

Disadvantages of surgical robots

Answer 44

High cost Additional staff training lack of randomized controlled trials safety issues

Question 45

principles of functional electrical simulation

Answer 45

activate paralysed limbs low level electrical current peripheral nerves control specific muscles

Question 46

potential application with robot and nerve systems

Answer 46

can reteach control movements adaptive robotic controller can help maximise neural recovery

Question 47

3 applictions of medical robots

Answer 47

endoscopy surgical rehabilitative

Question 48

limitations of endoscopy

Answer 48

instruments have only 2 dof no tactile feedback no positional feedback only tip is steerable

Question 49

requiremnets for an endoscopy robot

Answer 49

Delicate manoeuvres in confined spaces excellent hand-eye coordination hand dexterity and postional accuracy long learning time for doctors

Question 50

requirements of mini mainpulators

Answer 50

provide bending embedded actuators continuous backbone(snake like)

Question 51

limits of medical actuation

Answer 51

mechanical linkages bulky cable drives

Question 52

medical simulation types

Answer 52

computer based simulation digitally enhanced mannequins virtual reality simulators