MidTerm Exam

 Answers

CIS480  –  March 1, 2007

Name ___KEY_____________________

The answers to #1 to #50 are found in the Answer Bank.  Give the letter of the correct answer.  All answers go on the Answer Sheet.

Answer Bank

1. A _____ is a set of assumptions or techniques which characterize an approach to a class of problems

paradigm

2-8. The seven areas of AI are:

knowledge representation

understanding natural language

learning

planning & problem solving

inference

search

vision

9-12. What are the four dimensions for evaluating the suitability of an architecture to an application domain?

modularity

niche targetability

portability

robustness

13. The hierarchical paradigm can be traced back to the GPS of Simon & Newell.  In that context GPS stands for _____.

general problem solver

14. And STRIPS stands for _____.

Stanford Research Institute problem solver

15. _____ is the scientific study of animal behaviors.

ethology

16-17. Two of the pioneers in this field are:

Lorenz, Tinbergen

18-19. And two of the pioneers in applying biological studies of animal behavior to robotics are:

Moravec, Arbib

20. _____ is a specific stimulus which triggers a stereotypical pattern of action.

an innate releasing mechanism

21-22. Perception serves two functions with respect to action.  It serves to _____ and then to ____ by providing information necessary to accomplish it.

release the behavior

guide the behavior

23. A _____ is a generic template for doing some activity.

schema

24. It consists of _____ to act and/or perceive . .

knowledge of how

25. and of the _____ for accomplishing the activity.

computational process

26. According to schema theory a behavior consists of _____, the template of activity;

motor schema

27. the _____, the template for sensing;

perceptual schema

28. and the _____, the trigger for activity.

releaser

29-30. The subsumption architecture of _____ solves the frame problem by _____.

Rodney Brooks

eliminating the need to model the world

31. Within this architecture behaviors are arranged in _____.

layers of competence

32-34. The higher layers _____, _____, and _____.

coordinate other layers

        have more specific goal-directed behaviors

        subsume lower layers

35-36. A potential field is represented as array of vectors (m, d) where m is the _____ and d is the _____ of the force being exerted.

magnitude

direction

37. Perceivable objects _____ on the surrounding space.

exert force

38. A robot is a _____ within the force field.

particle

(39-41) Both subsumption and potential field architecture:

39. Appear _____.

largely equivalent

40-41. Have _____ and _____.

modularity

niche targetability

42-43. Neither is particularly _____ or has a mechanism to _____.

robust

recognize that degradation has occurred

44. Within the OOP model of programming a robot the schema will be a _____.

class

(45-50) With respect to the logos-telos-teleios design triad:

45. We refer to the internal structure, organizing principle or logic as _____.

logos

46. We refer to the goal, purpose, objective, aim, function, intention, or reason as _____.

telos

47. And we refer to the concept complete, finished, mature, or perfected as _____.

teleios

48. The role of the logos aspect (mind, understanding) is to ___, ___, and create design.

comprehend need

generate purpose

49. The role of telos is to provide _____ and a measure of the efficacy of design.

focus

50. And teleios circumscribes design since it describes the point of _____.

completion

Enhanced True/False

(51-63) For each statement, indicate whether it is true or false.  Correct those that are false to make them true.

51. The closed world assumption is that the actual world is closed to the robot; so a robot can only act in a simulated environment.

False: world model contains everything the robot needs to know

52. And the frame problem stems from the result of the computational complexity of updating all world information – both that which does and does not change.

True

53. Taxes last only for the duration of the stimulus.

False: reflexes

54. But fixed action patterns continue beyond the duration of the stimulus.

True

55. Reflexes are oriented with respect to the stimulus.

False: taxes

56. Applying the insights gained from the study of animal behaviors to programming, we get the following principles: decompose complex actions into interdependent behaviors.

False: independent

57. Tightly couple sensing and planning.

False: acting

58. Use straightforward Boolen activation mechanisms.

True

59. Use action-oriented perception.

True

60. Within the potential field architecture the motor action of behaviors must be represented as a Boolean algebra.

False: potential field

61. Within the OOP model the behavior is composed of at least one Motor Schema and one Planning Schema.

False: perceptual

62. A Perceptual Schema has at least one method which takes sensor input and transforms it into action.

False: a percept

63. A Motor Schema has at least one method which transforms a percept into a form representing an action.

True

Short Answer Questions 

64-66. The robot primitives are:

sense, plan, act

67-69. The three main paradigms for the design of mobile robots are:

hierarchical, reactive, hybrid

70-74. Name the five primitive fields of the force field architecture illustrated in the supplied figure.

a. uniform

b. perpendicular

c. attractive

d. repulsive

e. tangential

75-77. Within the OOP model of programming robotic behavior, what three classes are derived from the Schema Class?

behavior

Motor Schema

Perceptual Schema

78-85. Consider the following scenario:

A robot is in a large, unlighted warehouse (rectangular structure) at night.  Its task is to investigate any light source that occurs within the space and determine whether or not it could be a fire.

Describe the sensor suite that you would choose for the robot.  List the set of behaviors that the robot would need to accomplish its task.  Choose one of these and describe it.