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Robotics > robotics > Flashcards

robotics Flashcards

1
Q

4 features of jobs first generation robots were designed for

A

Highly repetitive
Dull
Dangerous
Dirty

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2
Q

3 classifications of robot by mobility

A

Fixed robot manipulators
mobile robots
Hybrid robots

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3
Q

3 features of new generation robots

A

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

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4
Q

6 research challenge of robots

A

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

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5
Q

8 social challenges

A

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

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6
Q

3 laws of robot ethics

A
  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
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7
Q

4 new algorithms of human robot interaction

A

fleet of self assembling robots
collaborative robots
physical assistance
learning robots

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8
Q

8 uses of healthcare robotics

A

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

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9
Q

4 main types of medical robot

A

navigation
motion replication
imaging
Rehabilitation and prosthetics

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10
Q

most common type of medical robot

A

surgical

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11
Q

3 types of robot primary power

A

Electric voltage
Hydraulic fluid
Pneumatic air

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12
Q

stall torque is

A

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

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13
Q

3 advantages of brushless dc motors

A

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

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14
Q

what are 4 advantages of having no brushes on motors

A

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

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15
Q

4 disadvantages of brushless dc motors

A

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

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16
Q

3 advantages of servo motors

A
  • Closed-loop mechanism that controls the rotational or linear speed and
    position.
  • Maintain relatively constant torque at high speeds
  • Good accuracy
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17
Q

2 disadvantages of servo motors

A
  • Tuning a motor control loop can be difficult
  • High spec servos can be expensive
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18
Q

3 advantages of stepper motor

A
  • Position control without a position sensor
  • Controlled by digital signals – suitable for robotics
  • High stall torques when stationar
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19
Q

4 disadvantages of stepper motor

A
  • 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
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20
Q

4 advantages of hydraulic actuators

A

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

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21
Q

3 disadvantages of hydraulic actuators

A

fire hazard is leaks
require maitenance
bulky

22
Q

4 advantages of pneumatic systems

A

weight
simpicity
no leak problems
Big forces with elasticity

23
Q

3 disadvantages of pneumatic systems

A

spacious
sealing limits on pressure
air is compressible

24
Q

wht is a shape malleable alloy

A

100% deformable when cold
returns to shpe when heated

25
Q

8 advantages of surgical robots

A
  • 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
26
Q

4 disadvantages of surgical robots

A
  • High cost
  • Additional staff training
  • Lack of randomized controlled trials
  • Safety issues
27
Q

5 comparitivie points for human vs robotic surgeon

A

judgement
integrate multiple sources
natural coordiantion
seeing through tissue
improvisation

28
Q

4 reasons why neurosurgery has most robotic advancement

A
  • 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
29
Q

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

A

laparoscopic camera holder

30
Q

advantages of da vinci system

A

removes tremors
3d magnification

31
Q

disadvantages of da vinci system

A
  • Size & mobility
  • Tactile feedback
  • Cost (>£1M)
  • Long training times for surgeons
  • Long setting up time
32
Q

3 surgical specialities

A

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

33
Q

whats measured to test muscle movement

A

electromyography

34
Q

Transducer

A

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

35
Q

Passive Sensor

A

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

36
Q

Active sensor

A

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

37
Q

Active sensing

A

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

38
Q

4 sensor outputs

A

electronics
image
signal processing
computation

39
Q

What are inertial mesurement units

A

Estimates position, orientation and usually velocities and accelerations

40
Q

Aspects of GPS

A

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

41
Q

4 disadvantages of ultrasound sensing

A

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

42
Q

Laser Range finders principles

A

Same as sonar but with light

43
Q

Advantages of surgical robots

A

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

44
Q

Disadvantages of surgical robots

A

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

45
Q

principles of functional electrical simulation

A

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

46
Q

potential application with robot and nerve systems

A

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

47
Q

3 applictions of medical robots

A

endoscopy
surgical
rehabilitative

48
Q

limitations of endoscopy

A

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

49
Q

requiremnets for an endoscopy robot

A

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

50
Q

requirements of mini mainpulators

A

provide bending
embedded actuators
continuous backbone(snake like)

51
Q

limits of medical actuation

A

mechanical linkages bulky
cable drives

52
Q

medical simulation types

A

computer based simulation
digitally enhanced mannequins
virtual reality simulators

Robotics (1 decks)

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