生物生产机器人去年试题（回忆版）1.写出系统分析的8个步骤（见教材）答：1.Define the system and its objective.2.Identify descriptors of the system.3.Establish the relationships among the descriptors.4.Designate system performance indicators.5.Develop a model to represent the system.6.Verify and validate the mode.7.Perform simulation with the model.8.Draw conclusion about the system.2.自由度和工作空间的计算（和平时作业类似）答：3.模糊控制的相关计算（与kondo教授资料上第58页题目类似）√4.从5种机械手中取3种举例说明（见kondo资料上4-5页）√5.表示颜色的几种方法（见kondo资料13-15页）√6.偏振光相关题目（稻田反射阳光和人站的位置的那道题，见kondo资料22页左上）7.根据所给图表简述不同物质的光学性质（见kondo资料24页中间的图）看图说话8.用镜头捕获对象位置的计算（与作业类似，见kondo资料26页、43页）相似三角形manipulator=armend-effector=handvisual sensor=eyetravelling device=legcontrol device=brainManipulator一、1.Cartesian coordinate type直角坐标3＊prismaticjoint2.Cylindrical coordinate type圆柱坐标2＊prismaticjoint＋1*rotational joint3.Polar coordinate type极坐标1＊prismaticjoint＋2*rotational joint4.Articulated type 多关节坐标3*rotational joint5.SCARA 1＊prismaticjoint＋2*rotational jointDegree of freedom：3～7二、Basic mechanism of manipulator is defined as degree of freedom, type of joint, link length, offset length.三、for basic mechanism of manipulator ++++++kinematic indices(运动学参数)1.operational space2.measure of manipulatability3.posture diversityend-effector一、Robotic hand should be developed based on…Physical properties of object1.basic physical propertiesshape, size, color, mass2.dynamic propertiescutting resistance, frictional resistance摩擦阻力, elasticity, viscosity粘性3.optical properties4.sonic properties5.electrical properties6.biological properties7.chemical properties二、motionof end-effector ++++++Machine Vision一、不知道光的大体波长要不要记暂时没写上去，需要的话加一下three primarycolors / complementary color二、color expression methods感觉没办法考大题目啊＝＝公式应该不用记，图也画不出来1. munsellrenotation芒赛尔标度2.chromaticity(XYZ color corrdinatesystem:RGB ratios)3. L*a*b4. HSI(hue色调, saturation饱和度and intensity强度)illumination三、为什么用uv拍出来的花，有一个亮点其余是黑的，人看到的全都是亮的可见的？因为人的话是依靠可见光vision，人的视觉好，所以整朵花看得到；但是昆虫依靠uv看物体，加上本身视觉不好，所以看不清，但是花需要授粉，慢慢地就进化出来可以看到亮点，昆虫撞上去就可以撞进花蕊里……当时老师讲的，感觉不会考，但是记一下吧，用英文写基本要跪四、fundamentals of light＋＋＋＋quanitity of light光束luminous intensity光度brightness辉度intensity of illumination照度solidangle立体角五、varioushalogen卤素灯– incandescent白炽灯–fluorescent荧光灯–led发光二极管–hid气体放电灯color-rendering演色性从左到右变差（这句话错的，详见这部分新加的图片）（是指光源照射物体时呈现色彩的视觉效果质量高低的评价。
这种评价的数值是以基准光下所看到的色彩指数为依据的，物体在全色光谱的照射下所反映的色彩最真实。
日光是演色性最好的等比例的全色光源，舞台及影视照明光源除发光效率要求要高，而且要求光源显色性能好，被照射物体的颜色失真少；halogen有很多颜色哟）life从左到右变长hz后期补充：highercolorrendering lights：halogen lightwithmirror（halogen cycle）大于halogen lightwithnomirror（halogen cycle）大于incandescent lamp（only electric power）halogen cycle就是halogenation tungsten （divorceinto）halogenandtungsten （就是钨丝和卤素的结合物分解成钨和卤素然后再结合再分开这么个过程）fluorescentlamps：250nmuvlightcauses fluorescencereactionsome AC fluorescent lamps fluctuate luminious intensity in low frequency(50~60hz) 因此，machinevision的使用中，需要更高的频率，则需要变频器（inverter）LEDs( light emitting diodes) luminous intensity 好; arranging adapting shape and color 简单Hidlamps（high intensitydischargelamps，mentalhalide lamp金属卤素灯，Hglamp，Na lamp）描述fluorescence感觉肯定考＝＝六、colortemperature不同颜色的光的温度不一样还有spectral radiation of blackbody黑体辐射：任何物体都具有不断辐射、吸收、发射电磁波的本领。
辐射出去的电磁波在各个波段是不同的，也就是具有一定的谱分布。
这种谱分布与物体本身的特性及其温度有关，因而被称之为热辐射。
七、为什么傍晚evening和早晨是redish（天了噜，我一直以为evening是晚上），其余是bluish long waves transmit , while short waves scatter.红光是长波，蓝光是短波Manipulators补充：1、2-DOF、3-DOF、4-DOF manipulator with a maximum measure of manipulatability旧教材P402、Machanism of a human arm 旧教材P37Machine Vision补充：1、Typical spectral reflectance of plants 旧教材P11 或KONDO的PPT里26页对谱线的解释2、荧光现象的解释Actuators and Sensors for RobotsNAND与非门逻辑电路PPT 37页还有就是可能会考精细农业相关的一些东西比如应用，比如与传统农业的比较Machine Vision接下去八、light methodppt 21～23页这里是什么鬼ppt看不懂啊都是黑色的感觉上课也没讲Brewster angle偏振角：光矢量与入射面之间的夹角称为振动的偏振角或方位角Refractive index＝tan偏振角九、cameracomparison：ccd: high resolution, highsensitivitymos: low power consumption, cheap, no blooming减少镜面反射的一种处理十、spectral reflectance and application to agricultural robot (好像p95推导……)及其视觉软件处理过程:color conversion, preprocessing, binarization二值化, processing of binary grayimages, feature extraction, recognition, 3d understandingfft＝fastflourier transformActuators and sensors for robots (mecharonics)一、internal sensors: sense joint angle, position, velocity, arm configuration(internal state of robot) external sensors: sense object color, position, distance, existence (external state of robot)二、flipflopcircuits触发器电路三、ppt39 有较多的传感器，我不知道怎么考但这里有一个传感器的原理，我觉得可以考：感觉就是当年王老师说的应变片的原理the principle of strain gauge四、ultrasonic sensor作用:depth measurement, cutting height control for combine, plant detection characteristics: easy control, cheap sensor element, not high speed, rough shape and sizemeasureultrasonic sensor相比laser sensorormachine visionlasersensor：timeofflightprinciple：Time of flight (TOF) describes a variety of methods that measure the time that it takes for an object, particle or acoustic, electromagnetic or other wave to travel a distance through a medium. This measurement can be used for a time standard (such as an atomic fountain), as a way to measure velocity or path length through a given medium, or as a way to learn about the particle or medium (such as composition or flow rate). The traveling object may be detected directly (e.g., ion detector in mass spectrometry光谱测定法) or indirectly (e.g., light scattered from an object in laser dopplervelocimetry多普勒速度测量学).五、psd＝position-sensitive device 感觉这一个部分以及前面的内容都很不丰富（要不就是我没好好听…………）六、incremental encoder增量式编码器七、terahertz 1THz=1000GHz=10^12Hzterahertz同时也是一种检测方法（？？）terahertz characteristics：permeability, easy handling, reasonable spatial resolution, safe for humanstera-phntonics作用：feasibility od chemical residue inspection, online the drug inspection system, nondestructive measurement of fruit defect, relation between THz wave-measured reflectivityand Brix%可溶性固形物的含量of sugar solution用处：Robotic intelligence一、√天哪华哥，ppt47的那个kondo讲过的计算题是怎么样的来着，看ppt忘记掉了，没看懂啊二、judgmentbasedonexperiences三、write an object to which neural networks or fussy theory can be applied（看了模拟再说）Food Traceability based on Robotic Agriculture一、farming support system based on GIS二、自动分级系统的好处。