ROBOTICS AND ARTIFICIAL INTELLIGENCE (RAI), B.E. Computer Science (CS), Semester 7, December 2012.

ROBOTICS AND ARTIFICIAL INTELLIGENCE (RAI),

B.E. Computer Science (CS), Semester 7, December 2012.

Con.8367-12

KR- 1161

(3 Hours)

[Total Mark: 100]

N. B.: (1) Question no 1 is compulsory.

(2) Attempt any four questions out of the remaining questions.

(3) Assume suitable data if necessary.

1. Answer the following question in brief: - ---- (20 Marks)

(a) Briefly explain the role of Robotics in Industries.

(b) Explain in brief the forward and inverse Kinematics.

(c) Explain Heuristic function with example.

(d) List sensors used for reactive robot.

2. (a) Describe DH parameters with suitable sketch. --- (6 Marks)

(b) Find the Kinematic transformation matrix using DH Method for following robot. --- (14 Marks)

3. (a) Explain how you will formulate search problem. Formulate 8-puzzle problem. --- (6 Marks)

(b) Describe Depth – first search using suitable example. --- (4 Marks)

(c) What do you mean an admissible hearistics function? Discuss with suitable example. --- (5 Marks)

(d) Describe IDA^* search algorithm giving suitable example. --- (5 Marks)

4. (a) Describe backward – chaining algorithm for propositional logic. --- (6 Marks)

(b) Represent the following sentences in first – order logic, using a consistent vocabulary. --- (4 Marks)

(i) Every person buys a policy is smart.

(ii) No person buys an expensive policy.

(iii) There is an agent who sells policies only to people who are not insured.

(iv) There is a barber who shaves all men in town who do shave themselves.

(c) Describe backward chaining algorithm with example. --- (10 Marks)

5. (a) You have two neighbours, John and Mary who have promised to call you at work when they hear the alarm. John always calls when he hear the alarm, but sometimes confuses the telephone ringing with the alarm and calls then, too. Mary on the other hand, likes rather loud music and sometimes misses the alarm altogether. Given the evidence of who has or has not called, we would like to estimate the probability of a burglary. Draw a Bayesian network for this domain with suitable probability tables. --- (10 Marks)

(b) Give steps in designing the Reactive Behavioral System. ---- (10 Marks)

6. (a) What is planning problem? How it differs from search problem? --- (5 Marks)

(b) Explain screw Transformation. --- (5 Marks)

(c) Explain supervised, unsupervised and reinforcement learning with example. --- (10 Marks)

7. (a) Describe following electrical actuators, DC motor, Sunchronous motor, Stepper motor. --- (10 Marks)

(b) Explain following sensors used in robotics application, Potentiometer, Inductor, Capacitor, LVDT. --- (10 Marks)