浙江大学2004–2005学年春季学期
《生物生产机器人》课程期末考试试卷
开课学院： 生工食品学院 考试形式：闭卷，允许带___________入场
考试时间：2005年4 月28日,所需时间： 120 分钟
考生姓名： 学号： 专业：
题序 得分 评卷人
1 2 3 4 5 6 7 8 9 10 附加题 总 分 1. What is the definition of a bio-production robot, and why is the bio-production robot necessary? (8%)
Definition: A bio-production robot is a machine system, with or without a manipulator, is able to control itself based on their sensing systems and control algorithms, in a manner similar to the functions of human perception and intelligence, and carries out a variety of tasks in bio-production. Necessity:
1) Although many agricultural operations have been mechanized, there are still many treacherous, laborious, and monotonous tasks that are not suited for human beings, but require certain humanlike intelligence to perform;
2) The availability of the farming workforce is decreasing at an alarming rate in many countries.
3) The problem of labor shortage frequently results in rising labor costs, if the production is to continue;
4) The market demand for product quality has become an important factor in bioproduction.
2. What are the main physical properties of biological objects, and what are the difference between the constitution and the performance of bioproduction robots and those of the industrial robots? (8%)
Main physical properties of biological objects Property Basic physical Characteristics Shape, size, mass, density, surface texture Dynamic Cutting resistance, frictional resistance, elasticity, viscosity Optical Sonic electrical Reflectance, transmittance Vibration property, wave propagation Electrical resistance, capacitance, static electrical property Features of bioproduction robotics：
1) Needs to be flexible and versatile in handling objects
2) Has some degree of intelligence in recognizing the situation of its surroundings 3) Needs to work within unstructured, harsh, and changing environments
4) requires special safety features when it works in tandem with human operators or farmers.
5) needs to be simple in its interface with human operators and cost effective in its monetary investment.
3. What is difference between the bioproduction robot and industrial robot? (8%)
An industrial robot is defined as a \move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.\
The definition for the bio-production robot, however, is that these various machine systems, with or without a manipulator, are able to control themselves based on their sensing systems and
control algorithms, in a manner similar to the functions of human perception and intelligence.
The industrial robot is good at handling objects whose physical properties are regular and static
The bioproduction robot needs to be able to handle growing biological objects. The properties of growing plants and animals are dynamic. A bioproduction robot is often required to adapt to the work object's individually varying properties.
4．What can you conclude from the figure below? (8%)
It can be concluded from this figure that bioproduction robot is an integration of engineering, biology, and social science.
? Many engineering theories and technologies are used in designing the components of bioproduction robots. These include mechanics, electronics, machine vision, fuzzy control, artificial intelligence, neural networks etc. ? Because the robots are designed to handle plants, animals, food, and other biological objects, an understanding of biological science, as well as its implication for the production processes of biological materials, is equally important.
? Furthermore, the need to consider related social sciences, such as economics, management, marketing, and public acceptance, should not be overlooked.
5．What are the required components for the bioproduction robot? Please describe their functions respectively. (12%)
The required components for the bioproduction robot include manipulators, end-effector, sensors, traveling device, control device, and actuator. The functions of them are:
①. Manipulators: to carry out the special task of the machine.
②. End-effector: to play a role similar to that of a human hand at the end of the
manipulator.
③. Sensors: includes internal sensors and external sensors, to know the
environmental conditions around robots
④. Traveling device: to make the operation space of the manipulator larger. ⑤. Control device： to control the robotic components ⑥. Actuator：to provide power for the robot.
6. Compared to the human vision system, what are the advantages of Digital Machine Vision Systems? Please explain the functions of every key components consisted of a Machine Vision System? (12%)
Human Vision System (Eyes)
? Receiving light and synthesizing an image scene
? Extremely intelligent in image recognition and interpretation of scenes and objects even with incomplete information and in a low light situation
? Limitation: Only able to recognize scenes and objects in visible color region (400 - 700 nm)
Digital Machine Vision Systems
? Receive light and synthesizing an image scene
? See the scenes and objects in ultraviolet, visible, and/or near-infrared regions ? Provide quantified information on size, shape, color, texture, and even chemical properties of objects
? Are suitable for repetitive tasks
Key components and its function:
? Electronic Camera(s), to act as eyes of human, and toconvert optical image into electronic signal
? Image Acquisition Board (Frame Grabber Board):to act as the Analog and digital interfaces
? Computer: to act as the human brains ? Lighting system: to supply light ? Software
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