Download Mumbai University M.Sc IT Part II 2019 May 93648 Artificial Intelligence and Robotics Question Paper

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(Time: 3 hours) [Total Marks: 75]

Please check that you have got the correct question paper.

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N. B.: (1) All questions are compulsory.

(2) Make suitable assumptions wherever necessary and state the assumptions made.

(3) Answers to the same question must be written together.

(4) Numbers to the right indicate marks.

(5) Draw neat labeled diagrams wherever necessary.

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(6) Use of Non-programmable calculators is allowed.

SECTION -1

1. 1. Explain in brief the historical development of artificial intelligence. 7
   2. Explain SETQ and LET w.r.t. LISP. 6

   OR

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   1. What is Internal representation? State the characteristics of Internal representation. 7
   2. What is predicate calculus? Explain components of predicate calculus with example. 6
2. 1. Explain how to define and use recursive functions in LISP. 7
   2. Explain how strings can be used in LISP. 6

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   OR

   1. Write a short note on SUBSETHOOD theorem. 7
   2. Explain the different common signal functions in detail. 6
3. 1. Explain the concept of biological neuron with neat diagram and compare it with the Artificial neural network. 6

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   2. Explain the various stages of a KDD process. 6

   OR

   1. State the various applications in Genetic Algorithms. 6
   2. Explain forward chaining and backward chaining. 6

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SECTION II

4. 1. Name and explain with diagrams all the lower kinematic pairs. State those that cannot be used in an actuated robot joint with reasons. 7
   2. The relative position and orientation of the axes of two successive joints be specified by two link parameters. Explain. 6

   OR

   1. Explain the Screw Transformation matrix. What is a screw pitch? 7

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   2. What are homogenous co-ordinates? Define Homogenous Co-ordinate Transformation matrix. Explain the sub-matrices involved in this matrix. 6
5. 1. Write a short note on:
      1. SCARA robots
      2. Robot programming
      6

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   2. Write the inverse kinematic algorithm for the five axes spherical co- ordinate robot. 6

   OR

   1. Explain the role of Tool Configuration vector in inverse kinematics of robots. 6
   2. Explain the Bounded Deviation Algorithm for a straight line motion and its basic principle. 6

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6. 1. What are moments? How are they used in shape analysis of objects? 6
   2. Explain the merits of NC, CNC machines and robots used in industrial automation 6

   OR

   1. Write a short note on control problems due to robot moments of inertia. 6
   2. Write a short note on Robot dynamics. 6

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