Sample Questions
----------------

The art of Lego design ( The art of lego design -- Fred Martin)
----------------------

(i) Explain why we need two beams and two (1/3) plates to create
two horizontal units of space in the vertical direction? (Discuss
the ratio between the height and breadth units of a lego brick and
show the calculations.)

(ii) Name four different kinds of gears and what they are used
for.


Torque (Class notes, Chapter 7)
------

(i) What is the SI unit of torque?

(ii) Consider  the following

        A                          B
        ----------------------------
                   /\
                  /  \
                  ----

        <---l1-----><------l2------->


If l1 = 4 metres and l2 = 6 mts  and we apply
a force of 10 N (downwards) at A what is the torque?

How much force we need to apply at B and in what direction
so as to balance the above system?

(iii) Using Newton's law we have Force = Mass X acceleration
So when we apply a force to a car it will have an acceleration?
Why do we have to worry about torque in moving a car?


Torque-Speed characteristic of a motor (Chapter 7, class slides)
--------------------------------------

(i) An electric motor runs at 500 rpm and delivers 5 hp.
How much torque does it deliver. (Note 1 rotation is 2Pi radians,
and 1hp = 745.7 watts)

(ii) What is the back emf of a motor?

(iii) Why do we need gears to attach to motors? Why don't we
pick a motor that directly gives us the torque that we want?

(iv) How is power related to torque?

(v) What are the SI units of power, voltage, current?

(vi) How is power related to voltage?

(vii) How is power related to energy?

(viii) How does a motor work?

Sensor Design (Chapter 5, class notes)
-------------

(i) Name 4 different sensors.

(ii) Show the conections of a photo cell sensor and explain the
role of the resistors in the circuit.

Robot programming (Chapter 9, class notes)
-----------------

(i) Explain the difference between open loop and closed loop
control.

(ii) What is the difference between sensor fusion and behavior
fusion?

(iii) Explain the subsumption architecture.

(iv) What is the role of an arbitrator? a scheduler?


6811 hardware and software
--------------------------

(i) How many address bits does 6811 have? How many data bits?
How much internal RAM?

(ii) What is the size of the EPROM in 6811?

(iii) What is the internal RAM used for?

(iv) How are sensors and motors connected to the 6811?

(v) What is the size of the address space of 6811. 
How much of it is usually
external RAM.