Robotics Test

Least at least three things to remember when dealing with hydraulic leaks.

- Hydraulic oil from a running system may be hot enough to burn skin, so try to avoid direct contact unti you are sure that it is safe. - If a hydraulic oil puddle is uncontrolled, it can cover a much larger area than you think, there are special barrier and damming devices that can help to control large spills. - Leaks that generate an oil mist can also be a fire and breathing hazard, most hydraulic oils are stable and take a lot of heat to ignite, except when dispersed as a mist in the air. - Cleaning up hydraulic oil usually requires the use of some type of absorbing medium. - You do not want to let any hydraulic oil to go down any drains connected to the sewer systems it is a contaminant and will wreak havoc at water treatment facilities or any natural waterways it might reach. - When finished with the clean up make sure that you dispose of any oil and oil soaked materials properly.

What are some of the key points to remember when solid mounting robots?

- Make sure that whatever holds the robot in place is robust enough to bear the forces and/or weight of the system - Make sure that what you mount the robot on can handle the weight of the system and whatever load that it will be maneuvering - Make sure to check the security/tightness of any mounting hardware periodically, paying special attention to any wear noted - Crashes are conditions where the robot is subject to unexpected stopping or forces, so make sure to check the base when you are inspecting the system, especially for wall or overhead mounts

How do we treat minor burns?

Burns that do not have open wounds such as first - degree and minor second - degree, you will want to submerge the area in cool water for 10 to 15 minutes or until the pain subsides then wrap with a dry nonstick sterile bandage. Do not pop blisters should they appear and seek medical help if the area burnt is a sensitive area or pain persists.

Who created the first industrial Robot?

DeVilbiss Company

DARPA has a yearly robotic contest. What does DARPA stand for, what kind of robotic contest does it hold, and what are some of the outcomes from these contests?

Defense Advance Research Projects Agency, yearly competitions for long distance driverless vehicles. One of the benefits to this competition is robotic troop and material transports that are in use on several military installations. On the civilian side of things, we now have cars that are now able to parallel park without driver assistance and systems to help avoid collisions.

List the four D's of robotics and give an example of each as it relates to industry.

Dull, Dirty, Difficult and Dangerous. Dull - Repetitive tasks identical in nature Dirty - tasks that result in human operators covered in something and generally reduces job satisfaction Difficult - tasks that require the worker to move in unnatural ways or handle weight in awkward position Dangerous - tasks that pose some form of health threat to the person performing them

What is a common way that we keep people out of a robotic danger zone?

One of the possible methods to achieve this is to place metallic fencing around the robot, creating a cage that keeps people out of the danger zone while providing one or two entrances to the danger zone. These entrances have sensors in place and when opened, the robot stops automatic operations or in some other way renders itself safe for humans.

What is the difference between a safety interlock and a presence sensor?

Safety interlock has to be made for the system to run in automatic and could be reset with a person in the danger zone while a presence sensor detects anytime that a person is in the danger zone and prevents automatic operation.

What are some of the tasks we use proximity switches for?

Sense when parts are present, when machinery is in position, to track items on a conveyor line, and many other applications. When it comes to safety, we tend to use the prox switch where we want to insure that something is in a specific position before an operation takes place.

What was the first true experimental platform for Artificial Intelligence?

Shakey, created by Stanford

What is the difference between single - phase and three - phase AC?

Single Phase AC - is AC power that has one sine wave provided to the system via a single hot wire and returned on a neutral wire. Three Phase AC is AC power that has three sine waves 120° apart electrically.

What are some of the mundane tasks that we use robots for around the home?

Sweeping, vacuuming, mopping, pool cleaning and yard mowing.

How do we stop serious bleeding?

Take a clean bandage, cloth or gauze and apply firm pressure directly to the wound.

Describe what happens to AC power through one complete cycle.

The AC power starts at zero, rises to a positive value, drops back to zero, falls to a negative value, and the rises to zero once more.

What are the two main groupings of axes, and what is the function of each?

The major axes and the minor axes, the major axes are responsible for getting whatever tool that we are using into the general area it needs to be while the minor axes are responsible for the orientationing and positioning of that tool.

What are some of the reasons that the military is looking into exoskeletons for soldiers?

The military is working with contractors on whole body systems to help soldiers move heavy equipment and systems for the common soldier that will support the weight of their pack and gear, preventing fatigue and exstending their effective range.

What is the benefit of having more degrees of freedom in a robot?

The more DOF's a robot has, the more complex and organic the movements.

Describe the operation of a pneumatic robot controlled by a drum.

The pegs on the drum would rotate around and make various combinations of contacts or actuators to control how the robot moved, with the timing controlled by the speed the drum rotated and peg placement. The cylinders would extend until the robot hit a hard stop, preventing further motion. Because the cylinder was still under full pressure, this all but eliminated the issues encountered with mid-stroke positioning for air systems.

What is the main benefit of using a robot to perform a dangerous job like reconnaissance in a hostage situation or dealing with explosive devices?

The robot takes the risk so that humans do not have to.

What are the safe zone, cautionary zone, and danger zone as they relate to a robotic system?

The safety zone is where a person can pass near the system safely without having to worry about making contact with the system. The cautionary zone is the area where one is close to the robot, but still outside the work envelope or reach of the system. The danger zone is the area the robot can reach or the work envelope and where all the robots tasks takes place.

When did Benjamin Franklin conduct his famous kite experiment, and why was it important.

1752. his experiment proved that lightning is a form of electricity and lead to his experiments with electricity.

When did BEAM robotics come to be, and who created this approach?

1991, by Dr. Mark W. Tilden.

When did work begin on the Robonaut 2 and what historical event was the Robonaut 2 part of in 2012?

2007 and the first human/robot handshake in space.

When it comes to industrial robotics systems what are the common ranges for voltage and amperage?

220 VAC to 480 VAC and have an amperage ranging from 30 A to 100 A.

One amp is equal to ________________________________ electrons flowing past a measured point in one second.

6.25 x

What was the first commercially available microcomputer controlled industrial robot?

A T3 sold by Cincinnati Milacron and designed by Richard Hohn.

What is the general definition of a robot used in this textbook?

A machine equipped with various data gathering devices, processing equipment, and tools for operational flexibility and interactions with the systems environment, which is capable of carrying out complex actions under either programmed control or direct manual control.

What are the three conditions that stop a robot?

A program/driven action is finished, an alarm condition, mechanical failure.

What was the Metal - Plated Warrior, and who created it?

A suit of armor that sat up, opened and closed its arms, moved its head, and opened its visor. Leonardo Da Vinci

What are some of the things that we can do with the teach pendant?

Allow the operator to view alarms, make manual movements, stop the robot, change the program or start a new program, and any of the other day-to-day tasks required of those that runs robots.

Why are solid - mount bases a preferred type in industry?

Allows the system to maintain a very specific coordinate base to work from, which in turn allows industry to make full use of the precision of robotic systems.

What was the Jacquard loom? Who invented it, and when?

An automated system for looms that used a punch card control system invented in 1804 by Joseph - Marie Jacquard

What is an industrial robot as defined by RIA?

An automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes which may be either fixed in place or mobile for use in industrial automation applications.

What does AI stand for, and what is it?

Artificial Intelligence, which is the term used to describe a software or system that has the capacity to make human type decisions and solve problem intuitively or creatively.

What are the three things that Nikola Tesla is famous for?

Creating the concept of the AC induction motor, designing the worlds first AC power plant in Niagara Falls, and patenting his design for a radio - controlled boat.

When a person is being electrocuted, what is the first thing that you must do?

Cut the power to the circuit or use a nonconductive item to remove the person out of contact with the circuit.

What is the difference between AC and DC electricity?

Electrons can flow in one direction, which we call direct current DC, or it can flow back and fourth in a circuit, which we call alternating current AC

What are Isaac Asimov's three laws of robotics?

First Law - A robot may not injure a human being or, through inaction, allow a human being to come into harm. Second Law - A robot must obey any orders given to it by human beings, except where which orders would conflict with the first law. Third Law - A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

What did Robert Boyle discover?

From 1627 to 1691, he discovered that at a constant temperature the pressure of a gas varies inversely with its volume. If a gas expands it cools, if it is compressed it will heat up, Boyle also discovered that we need air to transmit sound as well as building one of the first vacuum pumps.

What are the general rules for dealing with emergencies?

GR 1 - remain calm GR 2 - Assess the situation GR 3 - perform to the level of your training GR 4 - after its over, talk it out

To whom do we give credit for creating the first real androids in human form?

Hans Bullmann

What did Bliase Pascal discover in 1653?

He discovered that pressure applied to a confined fluid is transmitted equally and undiminished in all directions and the resultant forces act upon the surfaces in a container at right angles.

What is the formula for Ohm's law?

I = E/R, E = I*R, R = E/I.

What is ventricular fibrillation and at what amperage passing through the body does this become a high possibility?

If the shock increases to 0.100 to 0.200 amps there is a high possibility of ventricular fibrillation, a condition where the heart quivers instead of actually pumping blood.

What do we do for broken bones?

Immobilize the limb as best you can with a splint device from your first aid kit. If you do not have a splint use some other rigid material.

What was the event that revitalized the use of hydraulic power?

In 1906, The U.S.S Virginia used oil in the ships hydraulic system to raise and rotate its guns.

What could happen if you reversed the polarity of DC components?

It is very important to observe the polarity of components because failure to do so will reverse the flow of electrons through the part causing erratic operation or block power flow and for many parts result in damage.

How would you connect a group of batteries to increase both voltage and amp - hours?

It would be a combination of series groups of batteries for voltage and parallel connections of these groups to increase the amp-hours

Who do we credit as the father of pneumatics, when did he make his discoveries, and why was this important?

Ktesibios or Ctesibius of Alexandria in 285 222 BCE. His discoveries gave man a new power source to work with that is still in use to this day.

Do we count external axes in our DOF count? Why?

No, since external axes are not a part of the manipulator, we do not count them

Who made it a requirement that any time you enter a robot's work envelope you take the teach pendant with you, and what is one of the main benefits of having the teach pendant?

OSHA, the system had an E-stop on it to shut down the robot if needed.

How do we treat severe burns?

Open wound burns such as severe second - degree third - degree or fourth - degree DO NOT place these wounds in water or do not try to remove any clothing that may be stuck in these burns. Cover with a cool moist sterile nonstick bandage or cloth and seek immediate medical help.

What is the difference between conventional current flow theory and electron flow theory?

Originally, scientists believed that electrons flowed from the positive terminal of a battery, through the circuit, and back to the negative terminal and we call this the Conventional Current Flow Theory. Later experiments proved that electrons actually flow from the negative terminal, through the circuit, and back to the positive terminal and we call this the Electron Flow Theory.

List three ways robotics has helped with research.

Program testing, technology proving, gathering dangerous data, space exploration, proof of concept.

What benefit to a patient does a robotic surgical system offer?

Reduced incision size, reduced damage, shorter recovery times or surgical procedures that once required hospital stays now are out patient type surgeries.

How do relay logic systems work?

Relay logic uses devices known as relays to create various logic - sorting situations, which would in turn control the operation of the system.

What are the three R's of robots?

Robots Require Respect

Describe what happens when a person is shocked.

The electricity enters the body at the point of contact with the electrical system, passing through the body and exiting at a grounding point or point somehow connected to earth.

Compare the top - down and bottom - up approaches to robotic creation.

The Top Down approach is where we start something very complex, such as people or independent thought, and then try to create something as close to that as possible with the technology available or derivatives of that technology. The Bottom Up approach is where the inventor starts with a very simplistic input and control system and then sees what happens.

What are the three factors that determine the severity of shock?

The amount of current that passes through the body, the path that the electricity takes through the body, and duration of the shock.

What is the function of the robotic controller?

The controller for the robot is the brains of the operation and the part of the robot responsible for executing actions in a specific order and timing or under specific conditions.

What happened with the bottom - up system when put in a synthetic environment?

The systems staked out territories and even fought over these territories in a way that resembles the insect world.

What do we use pressure sensors for when it comes to robotic safety?

These devices prevent the operator from entering the danger zone and closing the cage behind them, creating a condition where the robot could run in automatic and thus expose the operator to risk of injury or death.

Why does the dead man switch kill the robot's manual actions when released or pressed to hard?

This is because when something goes wrong, say that the robots hits you upside the head, your reaction is either to let go or grip the switch too tight, thus the reason these actions stop all movements.

How do we number the axis of a robot?

We commonly start at the base and number outward.

What do we have to be careful of when venting pneumatic power, and how do we avoid these dangers?

We need to be careful of two things, it is often a very loud process and two we need to watch for small particles that can become airborne due to the presence of escaping air, use a muffler.