ROBOTICS AND ARTIFICIAL INTELLIGENCE (RAI), B.E. Computer Science (CS), Semester 7, December 2013.

ROBOTICS AND ARTIFICIAL INTELLIGENCE (RAI),

B.E. Computer Science (CS), Semester 7, December 2013.

Con.8692-13

LJ- 14050

(3 Hours)

[Total Mark: 100]

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

(2) Answer any four questions out of the remaining six questions.

(3) Assume suitable data wherever necessary.

1. (a) What do you mean robot configuration? What is work space? --- (5 Marks)

(b) Explain, in brief, reactive system. --- (5 Marks)

(c) Describe unsupervised learning with suitable example. --- (5 Marks)

(d) Explain screw motion. Hence describe how screw motion involves linear and rotation transformation. --- (5 Marks)

2. (a) Describe different types of environments applicable to A1 agents. --- (10 Marks)

(b) Define blind search and informed search. Hence discuss the merits and demerits of each. --- (10 Marks)

3. Using DH algorithm, derive homogeneous transformation matrix for following robot. --- (20 Marks)

4. (a) What is decision tree? How decision tree can be used for interface? Give suitable example. --- (10 Marks)

(b) What is planning? How it defers from searching?--- (10 Marks)

5. (a) Explain the structure of learning agent. What is role of critic in learning? --- (10 Marks)

(b) Discuss various learning methods. --- (10 Marks)

6. (a) Describe A* algorithm with merits and demerits. --- (10 Marks)

(b) What is heuristic function? How will you find suitable heuristic function? Give suitable example. --- (10 Marks)

7. Write short notes on : --- (20 Marks)

(a)Forward and inverse kinematics.

(b) Sensors used in robotic systems.

(c) Belief network.

(d) Hill climbing algorithm.