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Q1: 3.) A diaphragm pressure gauge employs four strain gauges to monitor the displacement of the diaphragm. The four active gauges form the arms of a Wheatstone bridge, in the way shown in Fig. 3.23 b (see class notes too). The gauges have a gauge factor of 2.1 and resistance 120 Q. A differential pressure applied to the diaphragm results in two of the gauges on one side of the diaphragm being subject to a tensile strain of 1.0 x 10^-5 and the two on the other side a compressive strain of 1.0 x 10^-5 . The supply voltage for the bridge is 10 V. What will be the voltage output from the bridge? (20 pts) (Answer is 0.21 mV, but you need to show the work to get to this.)See Answer
Q2:1. Find out the homogeneous transformation matrices to describing the pose of the Oo frame with respect to the frame 03. Assume the axes orientations at O₁, O2 and O3 any combination other than in Lecture 4 PDF file (week 4 & 5), slides 24 & 25. Consider O:(x0,0,zo), assume the values of xo and zo. Similarly, assume the O₂ and O3 axes scaling as per the xo and zo initially assumed values. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! 0₁See Answer
Q3:2. This is a 3 DOF planar robot with 3 rotational joints. Derive the transformation matrix between the end-effector and the base of the robot coordinate systems. Assume the y and z axes orientations at every joint (y axis is given) and draw your assumptions in the free body diagram. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! (a) DH (b) Three-link, nonplanar manipulator.See Answer
Q4:3. Consider frames {0}, {1} and {2} shown below. Assume that no rotation is allowed around Y axis and the maximum angle each axis can rotate at each time is 90 degrees. a. Find the homogeneous transformation matrices ⓇH, and¹H₂. b. Find H, using the relationship: "H₂="H,¹H₂. Z₁4 1m 1m Z₁ Z₂ Assume positive or negative rotations about the axes. You must write the transformation equations.See Answer
Q5:4. As shown in the following figure, it is an ABB IRB140 industrial robot. It has six DOF and all the major dimensions are given. The last three axes intersect with each other and have the common origin located at the centre of axis 5. Please derive the transformation matrix between the end-effector (6) and the base of the robot coordinates systems {0} using the homogenous transformation method. Assume the axes orientations at every joint and draw your assumptions in the free body diagram. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! The link lengths are given in the diagram. You may use MATLAB for matrix multiplications. 670 Te 70 380 65 810 486 1092 712 352 151See Answer
Q6: 10. Choose one industrial application of a robot. Provide the URL to the website you used to find this application. What type of industrial robot is this (e.g. SCARA)? Why do you think robots are effective in this application? What type of end effector is being used in this application? "Introduction to Industrial Robots for Beginners" https://robotsdoneright.com/Articles/introduction-to- industrial-robots-forbeginners.html "Choosing Between Robotic and Collaborative Automation" https://robotsdoneright.com/Articles/choosing-between-robotic-and- collaborativeautomation.html "Robot Term Glossary" "Basic Robot https://robotsdoneright.com/Glossary.html Movement: DX200" www.youtube.com/watch?v=c1ZI4mJmKOc (This video will show you how you can program the Yaskawa controller, similar to what was shown in the demo) Write the assignment in one paragraph 100 wordsSee Answer
Q7:1. For the arm with three degrees of freedom shown in the figure, please answer all the questions below: [4 marks] yo L₁ L3 8₂ a) Define all the required coordinate systems associated with each joint based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive link parameters based on the answer in a). (DH method!) (0.5 marks) c) Derive the kinematic equations for ³Ho based on the answer in b). (1.5 marks) d) Solve the forward kinematics problem using the following input data: L₁ = 4, L₂ = 2, L3= 1 (m), and Ⓒ = {0₁, 0₂, 03}¹ = {——,——‚— —} assume the numerical values of the angles less than 90 degrees. (1 mark) e) Check your result in d) by sketching the robot configuration as a line diagram to represent robot links. (0.5 marks).See Answer
Q8:2. As shown in the figure, it is a 3 DOF planar robot with 3 rotational joints. [3 marks] a) Define all the required coordinate systems associated with each joint and derive link parameters based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive the kinematic equations for H3 based on the answer in a). (0.5 marks) c) Solve the forward kinematics problem using the following input data: L₁=2, L2=1, L3= 0.5 (m), = {01, 02, 03}T, assume 0₁<10, 15<0₂<50, and 03<0. (1 marks) d) Check your result in c) by sketching the robot configuration. (1 marks) 23 or iz The coordinate systems of the three-link planar armSee Answer
Q9:3. This is a 3 DOF spatial robot with 2 rotational joints and 1 translational joint in the reference pose. [3 marks] Yo dz Please answer the follow questions using the DH method: a) Define all the required coordinate systems associated with each joint and derive link parameters based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive the transformation matrix between the end-effector and the base coordinate system ³Ho. (1.5 mark) c) Calculate the coordinates of the point C and draw the corresponding configurations based on the values of parameters and variables given: 1₁ = 12 = 13= 6, 0₁-30°, 0₂ = 60° and assume d3 (1 marks).See Answer
Q10:Assignment: Autonomous Electric Vehicle (EV) Accidents - Background Study Objective: To familiarize yourself with the realm of autonomous Electric Vehicles (EVS) and gather a foundational understanding of the accidents that have occurred due to their operation. This knowledge will set the stage for a deeper analysis of the ethical issues surrounding these incidents in the subsequent components of the course project. Tasks: 1. Introduction to Autonomous EVs - Provide a brief overview of autonomous EVs, highlighting their primary components from an Electrical and Computer Engineering perspective. - Explain the intersection of electrical engineering (focused on vehicle hardware and mechanisms) with computer engineering (emphasizing software algorithms and Al). course_project_component_1-1_16983287/n- Pen down your initial thoughts on the role of Electrical and Computer Engineering in these incidents. How do you perceive the balance between technology advancement and safety in the context of autonomous EVS? Formatting Guidelines: - The assignment should be typewritten in a legible font (e.g., Times New Roman, size 12) and double-spaced. - Maintain clear section headers for better organization. - Ensure that the assignment is no longer than 5 pages, excluding references. - Any information, data, or images used from external sources should be properly cited using the [Preferred Citation Style, e.g., IEEE, APA]. Submission Instructions: - Save your assignment as a PDF (2 pages) titled "[Your Name] Autonomous EVs Background.pdf". - Ensure your assignment is submitted by the due date. Late submissions may be subject to a penalty.See Answer
Q11:Table of Contents Disclaimer....... Table of Contents. 1 Introduction.. 2 Methodology. 2.1 Measurement.. 2.2 3D Modelling.. 2.3 Programming.... 2.4 Development...... 3 Results and challenges.... 3.1 Measurement issues. 3.2 Virtual space orientation. 3.3 Gripper mechanism automation. 4 Discussion............. 11 4 5 6 7 8 9 11 11 12See Answer
Q12:1. Introduction Projects for engineering students give an edge over the race of recruitment to work hard to ensure a good career. In spite of employment practices in recent times, students are progressively taking up projects to pad up their skill-set. Engineering projects help students to learn and acquire practical knowledge. Despite of theory concept they acquire, various industries also need to know their capacity to complete projects using their specific initiatives. Thus, we recommend students to realize engineering projects in their four years of engineering and try to present as many white papers as possible. Students who give importance to their course projects are expected to learn how to: • Work in teams including multidisciplinary teams • Review various case studies of engineering applications based on the knowledge and skills acquired in the course work • Evaluate different alternatives using multiple performance indicators and realistic constraints Recognition of the need and identifying opportunities: Every project begins with recognition that needs improvement. These needs may be obvious or hidden to be revealed by investigation, surveys or research. • Definition of the real problem: It is a major task requires gathering information about the problem. The objective of the project is to analyze a case study and make an oral presentation to address their analysis and solution. Each group (3 members) will be assign a topic to analyze will perform a presentation to discuss the topic in front of other students. Topic: "Drones" "The drone is considered as a flying robot that can be used for professional and military-related applications or leisure. It has two main functions which are flying and navigation. Drones are powered by an energy source such as a battery or fuel. It is composed of many components like a GPS, camera, sensors, antennas, and flight controllers. Some drones require remote control and the intervention of humans. Other autonomous drones can be programmed such that they can carry out sophisticated missions with a high degree of accuracy without the intervention of humans." Use the following points to address the ethical dilemmas in your project topic: 1) Explain the reasons for which you can be a technological optimist/pessimist about the technology mentioned in the statement above. 2) In case this technology represents a controversial ethical dilemma, specify the case or situation of "Positive/Negative Paradigm". 3) Using the "Line Drawing" technique in solving ethical issues, select the features related to your decision. Discuss the outcomes of "Line Drawing". Present your work in the form of an oral presentation with Q&A session. Groups and topics distribution will be announced on Moodle. Presentations are to take place during the lecture time as follow:See Answer
Q13:1. Using Hebbian-type of learning rule to obtain a Hopfield network which can memorise the following two patterns: [1 -1 -1 1 -1 1], [1 -1 1 -1 -1 1] a) Draw the structure of the Hopfield network. b) Clearly indicate the following elements in the Hopfield network: Weight • Threshold • Initial input Output after the 1st iteration c) Test the network with the following corrupted patterns: [-1 1 -1 1 1 -1], [-1 -1 1 1 -1 -1] d) Are the results from c) expected and why? (8 marks)See Answer
Q14:2. Two sets of data are provided online (vUWS). One is called "input.mat" that contains 3 input columns, each with 5,000 sets of data. The other is called "output.mat" that contains 2 output columns, with 5,000 sets of data in each column. Build a multi-layered perceptron neural network, that can learn the relationship between the 3 inputs and 2 outputs using the data sets provided. Clearly provide and explain the following information in the report: a) The NN structure b) The NN parameters c) The NN performance plot d) The number of test sets e) The training results plot f) The training error plots in absolute and percentage values Note: The mat files can be loaded using MATLAB command ‘load'. • Test sets should only be used to evaluate the training results and error plots. (12 marks)See Answer
Q15:3. For a given fuzzy logic controller, we have the following three fuzzy control rules: Rule 1: IF x is A3 AND y is B₁, THEN z is C₂. Rule 2: IF x is A₂ AND y is B3, THEN z is NOT C3. Rule 3: IF x is A₁ OR y is B2, THEN z is C₁. Suppose the following membership functions for fuzzy predicates A₁, A2, A3, B₁, B2, B3, C1, C2 and C3 are given: HA₂ (x) = HB₂ (y) = 5+x 5 1 10-x 5 3+z H₁₂ (2) = 1 3-Z Note: • -5≤x≤0 0≤x≤5, HA₂ (x) = 5 ≤ x ≤ 10 1≤ y ≤ 5 5≤ y ≤7 HB₂ (Y) = 7 12-y -3 ≤z≤-1 -1 ≤z≤+1, Mc₂ (2) = 1≤z≤ 3 -E 2≤x≤5 5≤x≤9' 1≤ y ≤8 8≤ y ≤ 12' HA₂ (X)= - | - 10 1≤z≤4 4≤257' H²₂ (2) = 14-X y-8 Ha₂(y)= 15-y 2-5 11-z 6 ≤ x ≤ 10 10 ≤ x ≤ 14' MATLAB Fuzzy Logic Toolbox can be used to confirm the results. You are NOT required to submit the Fuzzy Logic Toolbox codes. 8 ≤ y ≤ 12 12 ≤ y ≤ 15' Assume discrete universes for x, y and z. If at time t₁, the sensor reading values are x(t₁) = 3.5 and y(t₁) = 6.5, manually calculate the final control output. Clearly state assumptions and procedures that you made in solving this problem. 5≤z≤7 7≤z≤9 9 ≤z≤ 11 (10 marks)See Answer
Q16:3. This is a 3 DOF spatial robot with 2 rotational joints and 1 translational joint in the reference pose. [3 marks] Yo Please answer the follow questions using the DH method: a) Define all the required coordinate systems associated with each joint and derive link parameters based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive the transformation matrix between the end-effector and the base coordinate system Ho. (1.5 mark) c) Calculate the coordinates of the point C and draw the corresponding configurations based on the values of parameters and variables given: /1 = 12 = 13= 6, 01 =30°, 02 = 60° and assume d3 (1 marks).See Answer
Q17: In Electronics 01.6, which of the following is the Norton equivalent source current as a fraction of Is? a. 1/6 b. 1/4 c. 1/5 d. 1/7 e. 1/3See Answer
Q18: A 208V Y-connected synchronous motor is drawing 50 A at unity power factor from a 208Vpower system. The field current flowing under these conditions is 2.7 A. Its synchronous reactance is 1.6 N. Assume a linear open-circuit characteristic. Find V, and E, for these conditions.'A Find the torque angle ð. What is the static stability power limit under these conditions? O How much field current would be required to make the motor operate at 0.80 PF leading? What is the new torque angle in part (d)?See Answer
Q19: 6.) A pneumatic system is operated at a pressure of 1000 kPa. What diameter cylinder will be required to move a load requiring a force of 17 kN? (20 pts)See Answer
Q20: 5.) A force of 500 N is required to open a process control valve. What area of diaphragm will be needed with a diaphragm actuator to open the valve with a control gauge pressure of 70 kPa? (20 pts)See Answer

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