MECHANICAL PART

1. Why is aluminum preferred over other metal for making structures?

2.

ORIGINAL

There are three joints in this picture. Subsequently, movement is done along each joint to reach the
orientation shown in last picture. Classify each of picture 1, 2, 3 as

“Movement along Revolute or Prismatic joint”

3. Identify the number of revolute joints and the total number of movements around each joint in
the given V-REP designed open chain robot arm.
(This is the fixed axis, references are taken from here)

Initial Orientation Final Orientation

Hint – From fixed axis imagine how the movements are done to reach the final orientation; for
final {b} location, see how the vectors are rotated and compare.

4. The difference between tooth space and tooth thickness is known as _________. It prevents
jamming of teeth and compensates for thermal expansion of teeth.
i. Pressure angle
ii. Base Circle
iii. Backlash
iv. Pinion.
5. State the key difference in the functionality of spur gear and bevel gear?

6. Draw a mechanism converting rotatory motion of a motor shaft to a sliding motion?

7. What is the function of Hydraulic Motor?
a) Hydraulic Motor converts Hydraulic oil under pressure into torque and angular
displacement.
b) Hydraulic Motor converts hydraulic oil under pressure into force and linear
displacement.
c) Hydraulic Motor converts hydraulic energy into mechanical energy.
d) Hydraulic Motor converts mechanical energy into hydraulic energy.

Choose the correct option.

i. 1 and 4.
ii. 1 and 3.
iii. 2 and 3.
iv. 2 and 4.

8. Identify the number of ports and valves in given Pneumatic system.

9. In a pnuematic system, compressors are used. Classify the below compressors as Piston
Compressor, Mutistage compressor, Double acting compressor, Combined two stage
compressor.
10. For a motor driving the arm of a grabber which of the two is more important?
i. Torque
ii. Speed
11. State two advantages using pneumatic actuators over hydraulic?
12. Find the degree of freedom of the given structure

13. Write any two purposes of filing?

14. A leg having three motors at three different joints is under actuated or fully actuated?

Electronics

1. Which of the following is correct for UART communication?

a. It uses parity bit for error checking
b. It can support multiple master and multiple slave systems.
c. It transmits parallel data asynchronously.
d. It transmits serial data synchronously.
2. Consider the scenario, you are making a line following bot using pid mechanism and your bot is
over shaking and wobbling too much, which of the following may fix the problem?
a. increasing the kp.
b. decreasing the kd.
c. increasing the kd.
d. decreasing the ki.

3. What is the maximum voltage level that can be supplied to Arduino using Vin?
a. 5V
b. 9V
c. 12V
d. 20V
4. Which of the following motors is best for rotating an object to a specific angle with high speed
and torque?
a. servo motors
b. absolute encoder motors
c. incremental encoder motors
d. stepper motors

5. Pin no. 3 is declared output in Arduino Uno. Choose the appropriate code for extracting 1.25V
from that pin
a. analogWrite(3,127)
b. analogWrite(3,255)
c. analogWrite(3,64)
d. analogWrite(3,512)

6. Which of the following is not an interrupt mode in arduino uno?

a. LOW
b. HIGH
c. CHANGE
d. FALLING

7. What is the use of a buck converter?

a. steps up voltage from its input to its output
b. steps down voltage form its input to its output
c. both
d. none

8. a=[2,3,6,7,4,5] b=np.array(a) print(b>5)

Output of the following segment of code will be:
 a. an array containing all the numbers greater than 5
b. an array containing boolean literals
c. compile time error
d. None

9. Consider two numpy arrays a and b as follows:

a=np.array([1,2,3,4])
b=np.array([[1],[2],[3],[4]])
Which of the following is incorrect?
a. c=a @ b , c will be equal to [30]
b. d=a+np.array([1,3,True,False]), d will be equal to [2,5,4,4]
c. e=a+b,e will be equal to [[2, 3, 4, 5],[3, 4, 5, 6],[4, 5, 6, 7],[5, 6, 7, 8]]
d. None.

Computer Vision

Answer the following in a statement or less

1. Which function(s) is/are used to convert an colored image into binary image?
2. The _______ are useful tool for shape analysis and object detection.
3. _____ thresholding is the method where the threshold value is calculated for smaller regions
and therefore, there will be different threshold values for different regions.
4. List all the functions that are necessary for video processing.
5. Which functions you will use for shape detection?