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    6th Semester Final Exams 21

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    Air University Final Examination: Spring, 2021 Student 10: \BQANT Total Marks: 100 Date: 05 July 2022, ‘Time: 0900Hrs ~ 120015 ‘Subject: Modeling and Simulation in Mechatronics ‘Course Code: MT 373 Class: BEMTS VI Semester: Spring 2021, Max Time Allowed: 3 Hours Sections: A, 8 FM Name: Engr. Umair Aziz Special Instructions: - Fe signature; Lbs 1 Paper comprises of § questions on 2 pages. This is a closed book and closed notes exam, Scienttic calculators allowed. ‘Attempt all pats of a question together. Solution of each problem should be a step-by-step solution (without skipping any major step) solved to obtain simplest form of, the solution, unless specified otherwise. 6._Queries are not allowed. Question 1 (CLo1) 20) Consider the simple pendulum (Figure 1) which could be a simple model for the leg of the robot. For this pendulum, Mg is the weight, T is an applied Torque in the @ direction, and L is the length of the pendulum. Assume the mass is evenly distributed, ‘with the center of mass at L/2. IMustrate the system using free body diagram. Represent the system in state space, then apply the concept of linearization to linearize the state equations about the pendulumn’s equilibrium point — the vertical position with zero angular velocity. Question 2 (CLO2) (1s) designed to operate with an internal air temperature of -20°C when the ‘external air temperature is 25°C and the internal and external heat transfer coefficients are 12 Wim? and 8 Wim?K. respectively. The walls of the freezer are composite construction, comprising of an inner layer of plastic (k=1 W/mK, and thickness of 3 mm), and an outer layer of stainless steel (k=16 W/mK, and thickness of Imm). Sandwiched between these two layers is a layer of insulation material with k=0.07 W/mK. Draw a diagram and a thermal resistance circuit to illustrate the problem described above. Identify the width of the insulation thatyis required to reduce the convective heat loss to 15 Wim?, Question 3 (cLo2) «sy a) List the advantages of fluid systems over electromechanical systems and identify the effort and flow for fluid systems. by A sharp-edged orifice has a diameter of 0.030 inch with a sudden expansion after the hole. The discharge coefficient is therefore expected to be 0.6. The hydraulic uid flowing with density 0.0303 lom/in?, kinematic viscosity 0.031in?/s, and viscosity 16.8 « 10®kPa s is used at a 1000 [bf /in® pressure drop. It is necessary to confirm that the flow is turbulent and to calculate the flow rate. Find the flow rate and analyze the state of fuid, in wd Given that (Ibf = Ibm + 386%), Q = CaA = Question 4 (cLo2 «sy Solve the given problem and identify 1H the tansfer function, G(s) = 22, 0000 w forthe network given in Figure 2 1H 19 “ye 4 + wO@ 1H IF IF y(t) Fiue2 Question 5 (CLO3) @5) Consider a mass-spring-damper system. The state equations forthe system are: o 114A fo 1] a 1 [2]-|_« —¢][2]+[}- mm m Given that m = 1kg,C = 3%, K = 2%, and u(e) is aunit step. For time domain solution: 1. Construct the characteristic equation, and evaluate its roots, wp, and ¢. 2. Generate state transition matrix #(¢), and solve for x(t) from the set of initial conditions: y(0)=1 30) where x(t) = (¢)x(0) + J) (¢ — )Bu(x)de | Subj Course Code: MT-330 ‘Total Marks: 100 Hl BEMTSIS. er/Section a Fall 2021 (FI8 A, B) Time Allowed: 03 Hour Instructor: Syed Zahid Hussain FM Signatur Special Instructions: Exam is closed books, closed notes. Make appropriate and justifiable assumptions in case of any confi i Question 1 20 Marks (CLO2) (C2) Water flows through the variable area pipe shown i Fig. Ifthe flowrate is 0.5 mvs and the density of the manometer fluid is 600 ke/m?. Wat strategy you will adopt to calculate: psuetso a. Velocity at point t and point 2. “43. Are b.. Pressure difference between points I end 2923‘ B4No c. Manometer reading, H. 7 @.\2ee ‘Also deseribe the assumption used for your calculations. Density = 600 kg/m? f ppm SM darks (C! 2 Question 2 20 Marks (CLOL) (C2) gave Weighing 800 Ib is held in place by a horizontal .e, which is hinged at point A. Prietion in the A homogencous, 4-f-wide, #-f-long rectangul flexible cable as shown in Fig. Water acts ag hinge is negligible. Estim: fe the tension in the cable TSW 3s. boy Question 3 20 Marks (CLO3) (C4) Water flows through a horizontal, 180° pipe bend! as is illustrated in Fig. The flow cross-sectional area is constant at a value of 9000 mm?, The flow velocity everywhere in the bend is 1S m/s. The Pressures at the entrance and exit of the bend are 210 and 165 kPa, respectively. Clamps are used to keep the pipe fix and to avoid any vibration. These clamps can withstand the Force of 7 KN, By calculating the horizontal (x and y) components of the anchoring force on clamps predict weather Biven clamps are going to hold the bend in place of no Umosces uestion a a 20 Marks (CLO 3) (C4) Water flows over a dame as illustrated in the Fi dam) depends on the head H. width b, h Assume the flow rate Q (per unit length along the of gravity g. Muid density p. and uid viscosity accelerati & 24(¥ ; ioe, & Po, a Develop a suitable set of dimensioniess parameters for this problem using b. yatta yas repeating variables, b. If model with a length scale of 1:50 is tested in water. The model with width h- 3 the flow rate per unit length of 10 m?/s. What is the actual flowrate per unit length in the dun? y1g118 Ves 67116: Ils Sr ors Question 5 20 Marks (CLO3) (C4) ‘The pump shown in Fig. is used to delivers water front lower pond to higher pond with a flow rate 0f 50 £4, Pipe inlet diameter is 0.75 ft and exit diameter is 0.5 ft. The difference in elevation of the two ponds is 200 ft. Compare the pump power required for following three situations. 2B a, All losses are neglected. bb. The only losses included are major losses. 6SS'S1 c. All the losses are included. 2 USNS Laooe = 15 Pipe length = 500 ft Pipe diameter = 0.75 ft Pipe roughness = 0 33 Air University Final Examination: Spring, 2021 Student 1D:1@0=07 Subject: Robotics Total Marks: 100 ‘Course Code: MT 462 Date: 13-07-2021 Class; BEMTS VI (F-18) Time: 0900-1200 Semester: Spring 2021 Max Time Allowed: 3 Hours Sections: A & B FM Name: Engr. Akhtar Kur FM Signature: lculators are Special Instructions: It is an open book exam (only text book is allow. allowed. Draw diagrams where necessary. Be concise and brief. Statement Marks [CLO ‘A frame {B)is located initially coincident with frame (A). Then {B)is rotated in the following sequence: 1. A rotation of angle 0 about current X-axis. 4, A rotation of angle B about current Y-axis. 5. A rotation of angle y about current X-axis. Compute AR. 20 ~«|T A frame [S] is described initially coincident with frame [T]. Then [S] is rotated through an angle of 30 degree clockwise about a vector whose coordinates in [T] are given as shown in the figure Give the description of [S] in terms of frame [T]. 20 «(2 Finger of a gripper is shown in the figure below. Its base is fixed with the palm of gripper hand. The tip of the finger which is origin of frame {4} is applying a force of 5 Nat an angle of 40° CW to the environment. Find the required joint torques as a function of configuration (which is planar) and of the applied force. Lengths of Tinks Li=0.5m, L2=0.4m and L3=0.3m. 20 ~~; 24 /é7rw) cs 4 | Given: 20 3 0.819 -0.573 0 12 0.573 0.819 0 7 sT=]0 pl= o 1s 0 0 oOo. If the velocity vector at the origin of {A} ae 1.0 -2.0 3.0 -2.214 -2.214 L.Oy" Find the 6x1 velocity vector with reference point the or igin of {B}. Ss a) Derive the equations for inverse kinematics of the articulated manipulator 20 2 shown in the figure below having three variables 61, 62 and @3. b) If Li=7om, L2=Sem and La=3em and Wy=2.5em, Wy=1.2em and W.=3.Sem, then find the values for 01, 02 and 6 Air University Final Examination: Spring, 2021 Subject: Mechatronics System Design Total Marks: 90 Course Code: MT 368, Date: 15 July 2021 Class: BEMTS-F18 : Semester: VI ‘Time: 09:00AM - 12:00°M FM Name: Or. Zareena Kausar Max Time Allowed: 3 hours ‘clearly. Attempt questions at ‘Special Instructions: This is a close book exam. Write text and draw illustrations answer sheets in a sequence given in question paper. Description of a project: A client asked ABC Design Company to prepare for him a concept of a feasible design of an electric scooter. His motivation was to develop a vehicle for driving short distances, avoiding busy road, insurance, high petrol prices, and high vehicle cost. The client's need statement included, therefore, that the vehicle should be of low cost, easy to install, simply constructed and able to collect as many types of operational data as possible. After detailed discussion with the client it was specified that the electric scooter would consists of two units: a drive unit and a display unit. Details of specifications are given in table below: Parameter Min ‘Max ‘Measurement Tolerance Speed Ons 10_mis /-0.2 mis: Trip Odometer___| 0 Km 150 Km ¥/-0.15 Km ‘Capacity = 90_Kg = Range = 15_Km = ‘Charge Time Chis 24_ hrs, = Battery Voltage | 10 VDC 15 VDC 7-02 V DC [Motor Current | 0 100 Amp 4¥/-0.2 Amp. | Braking Input 0 100% HW% ‘The operational specifications are tabulated below: [Unit Min ‘Max Measurement Tolerance Drive unit ‘Measure velocity of scooter [10 mis | ¥-0.2 mis t Measure operating motor curent Measure battery voltage Display unit LCD display represent asmuch [150 Km — | +-0.15 Km information as possible indicating speed and Mechanical Unit | - 90_Kg |= / [Range _ = 1s_Km— [= Charge Time | 6 hrs [24 hrs [= _| Battery Voltage [10 VDC 15VDC__|#7-02 VDC Motor Gurrent__ [0 100 Amp | ¥/-0.2 Amp. Braking Input | 0 100% WA% In order to complete the project, you are required to use above mentioned requirement data to ‘work out answers of following questions (Q1-Q3). Qu: (CLO1-PLO4) 05] (a) Define a modern mechatronic system using preferably a block diagram for illustration of the system and Investigate different possible engineering designs (at least 2, clearly illustrated/sketched and described) and propose the most feasible design optic Vr Recommendation of the most feasible design must be based on the technical arguments you studied in this course of “Mechatronic System Design”. Q.2: (CLO2-PLO3) (30} a) Describe key elements of a mechatronic system and then give specific key elements of the b) °) Q.3: (CLO3-PLOII) system you proposed in previous question. Design a mechatronic system that must include electrical, mechanical and software design Describing the selection criteria furnish selection of sensors and actuators for development of the control of the designed system. Describe a closed loop feedback controlled system configuration and its advantages. Design and draw a block diagram of the control system with closed loop feedback configuration for the electric scooter you designed. Label each block and joining lines of the block diagram. There are four control factors of an autonomous system: Stability, Controllability, Observability and Minimality. Define these terms and types of stability to be considered for the electric scooter. (20) You are, of course, not working as an individual on the project but in a team. By chance, you are declared the team leader of this project and it is expected that you will demonstrate your project management skills and apply engineering principles to your work as project leader. Express your ‘management skills, applying engineering knowledge, reporting on following: 1a) How did you break down the projects into different modules? b) What was the team you build for the project and what duties were assigned to each team member? ©) Design a sequential list of tasks and present its timeline plan for project completion. d) Prepare a budget for the project. ©) How the project management skill affected on your decision related to implementation of the project. Q.4: (CLO2-PLO3 & CLO3-PLOI1) (25) In this era of industry 4.0 CNC machines are very important in flexible manufacturing. Design ‘and model a simple CNC machine mechanism developing on following spe requirements. Express your work on answer sheet in the form of a project report. The repo will be assessed on (a) Engineering knowledge, and (b) project management & communication sh ication ‘The required specifications to be addressed are: + number newness GOOD LUCK Speed [1.5x2=3]" ‘Accuracy [1.5x2=3] , Working material Power and Torque Work area size CNC machine size Use interface Cost [1.5x2=3] rout dstrion of total mars 25] win B petitions, xchn2categois 688) ( AIR UNIVERSITY A Final Examination: Spring, 2021 Student ID: Subject: Probability and Random Variables Total Marks: 100 Course Code: MA 303 Date:47-07-2021 y Class: BEMTS Time: 3 hrs 4? Semester: VI; A,B 93° Sections(s): 02 FM(s) Name: Ammara Nawaz. Cheema FM Signature: 2 Instructions: Attempt all Questions, Manage your Time according to the number of Questions, Full procedure is required to get full marks in a question, The students are not allowed any helping material (books, tables, formulas, etc), Use blue, black or blue-black ink ‘only, Do NOT use lead pencil, Be Precise and tothe point Q.1 (CLO-1) (745+8) (@) Define level of measurements with practical applications? SOF Differentiate between types of permutation? (S — A.witness to'a hit-and-run accident told the police that the license number contained the letters d RLH followed by 4 digits, the first of which is a 5. If the witness cannot recall the last 3 digits, but is certain that all 4 digits are different, find the maximum number of automobile registrations that the police may have to check? Q.2 (CLO-2) (S+8+7) (a) Define five words of dictionary of probability with practical applications? (b) The joint density for the random variables (X, ¥), where Xis the unit temperature change and Y is the proportion of spectrum shift that a certain atomic particle produces, is: _ [10xy?, O

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