MidTerm Exam

 Answers

CIS480  –  March 1, 2007

Name ________________________

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

2-8. The seven areas of AI are:

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

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

14. And STRIPS stands for _____.

15. _____ is the scientific study of animal behaviors.

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

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

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

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

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

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

25. and of the _____ for accomplishing the activity.

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

27. the _____, the template for sensing;

28. and the _____, the trigger for activity.

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

31. Within this architecture behaviors are arranged in _____.

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

 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.

37. Perceivable objects _____ on the surrounding space.

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

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

39. Appear _____.

40-41. Have _____ and _____.

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

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

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

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

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

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

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

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

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

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.

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.

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

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

55. Reflexes are oriented with respect to the stimulus.

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

57. Tightly couple sensing and planning.

58. Use straightforward Boolen activation mechanisms.

59. Use action-oriented perception.

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

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

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

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

Short Answer Questions 

64-66. The robot primitives are:

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

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

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

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.