POLYTECHNIC UNIVERSITY OF THE PHILIPPINES

MARAGONDON BRANCH

MARAGONDON, CAVITE

PLC, ROBOTICS AND MECHATRONICS

REVIEW QUESTIONS

SUBMITTED BY:

MARK KENNETH M. APUYAN

BS ECE – V

SUBMITTED TO:

PROF. JOMER V. CATIPON

OCTOBER 2018
1.7 Review Questions

1. What is the difference between robotics and mechatronics?

Mechatronics is combination or junction of Electrical, Mechanical, and Computer Science Engineering.

Mechatronics is the closest to robotics with the slight and main difference in mechatronics systems
inputs are provided whereas in robotics systems it acquires the inputs by their own.

2. Explain the origin of the word robot.

Originataed rom Czech, from robota ‘forced labor.’ The term was coined in K. Čapek's play R.U.R.
‘Rossum's Universal Robots’ (1920).

3. What is SMA, and how is it used in robotics and mechatronics?

A shape-memory alloy (SMA, smart metal, memory metal, memory alloy, muscle wire, smart alloy) is an
alloy that "remembers" its original shape and that when deformed returns to its pre-deformed shape
when heated. This material is a lightweight, solid-state alternative to conventional actuatorssuch as
hydraulic, pneumatic, and motor-based systems. Shape-memory alloys have applications in robotics and
automotive, aerospace and biomedical industries.

4. What kind of electronic sensors can be used as eyes in a robot?

A proximity sensor is a sensor able to detect the presence of nearby objects without any physical
contact. A proximity sensor often emits an electromagnetic field or a beam of electromagnetic radiation,
and looks for changes in the field or return signal

5. What is the difference between software and hardware intelligence?

Hardware intelligence is the design of each components working to form a single system while the
software intelligence is the AI or bot responsible for its control.

6. What is the Turin test to determine whether a machine is intelligent?

The Turing test, developed by Alan Turing in 1950, is a test of a machine's ability to exhibit intelligent
behavior equivalent to, or indistinguishable from, that of a human.

7. What is dynamic control in a robot?

It allows the structural properties of the dynamics to be determined and exploited. Once the equations
of motion for a manipulator are known, the inverse problem can be treated: the control of a robot
manipulator entails finding actuator forces which cause the manipulator to move along a given
trajectory.
8. Give examples of appliances in your home that are based on mechatronics.

A digital Resistive TC controlled electric fan, an IOT based home automation system(all mechanical
appliances applied).

9. What is a neural network?

A computer system modeled on the human brain and nervous system.

10. What is a gripper?

Used as an actuator which enables a robot to grip items.

2.7 Review Questions

1. What determines the directional rotation of a dc motor?

The direction of rotation of a dc motor depends on the direction of the magnetic field and the direction
of current flow in the armature.

2. How can we control the speed of a dc motor?

(1) By varying the supply voltage.

(2) By varying the flux, and by varying the current through field winding.

(3) By varying the armature voltage, and by varying the armature resistance.

3. What are gearboxes?

The most basic definition of a gearbox is that it is a contained gear train, or a mechanical unit or
component consisting of a series of integrated gears within a housing. In the most basic sense, a
gearbox functions like any system of gears; it alters torque and speed between a driving device like a
motor and a load.

4. What is a silicon diode?

A crystal diode that uses silicon as a semiconductor; used as a detector in ultra-high- and super-high-
frequency circuits. It is also known as silicon detector.

5. What is the voltage drop across the two silicon diodes that are forward biased?

Silicon diode voltage drop = 0.7 V ; Two silicon diode voltage drop = 2 x 0.7 V = 1.4 V

6. If two batteries are placed in series, what happens to the voltage provided by them?

The two batteries’ voltages add up when connected in series.

3.8 Review Questions

1. What are the main advantages of using relays to switch electric loads?

Electromechanical relays (EMR) are inexpensive, easy to use and allow the switching of a load circuit
controlled by a low power, and has an electrically isolated input signal.

2. What is the difference between an NPN and a PNP transistor?

PNP transistor is made up of two P-type material layers with a layer of sandwiched of N-type. The NPN
transistor is made up of two N-type material layers with a layer of sandwiched of P-type. In an NPN-
transistor, a +ve voltage is set to the collector terminal to generate a flow of current from the collector.
For PNP transistor, a +ve voltage is set to the emitter terminal to generate flow of current from the
emitter terminal to collector.

3. The bipolar transistor is a typical current amplifier. On the other hand, the power MOSFET is a
typical ________ amplifier.

Linear

4. Is the impedance of a power MOSFET high or low?

Due to the fact that MOSFET has an insulated gate, its input impedance is very high, of the order of
10000 Mega ohms.

5. To turn on an NPN transistor, what is the polarity of the voltage applied to the base?

A positive polarity is applied to the base of an NPN transistor to turn it on.

6. What is the Rds of a power MOSFET?

RDS(on) stands for “drain-source on resistance,” or the total resistance between the drain and source in a
Metal Oxide Field Effect Transistor, or MOSFET when the MOSFET is “on.” RDS(on) is the basis for a
maximum current rating of the MOSFET and is also associated with current loss.

7. What is the gain of a bipolar transistor?

It has a voltage gain that is always less than “1” (unity). The load resistance of the common collector
transistor receives both the base and collector currents giving a large current gain (as with the common
emitter configuration) therefore, providing good current amplification with very little voltage gain.
4.8 Review Questions

1. How many transistors should become conductive when an H-bridge is on?

Two Transistors. The basic operating mode of an H-bridge is fairly simple: if Q1 and Q4 are turned on,
the left lead of the motor will be connected to the power supply, while the right lead is connected to
ground. Current starts flowing through the motor which energizes the motor in (let’s say) the forward
direction and the motor shaft starts spinning. If Q2 and Q3 are turned on, the reverse will happen, the
motor gets energized in the reverse direction, and the shaft will start spinning backwards.

2. How many transistors must be used in a half bridge?

It depends on the circuit but you must need at least two transistors.

3. In the forbidden condition of an H-bridge, what happens with the current flowing from the power
supply?

In a bridge, you should never ever close both Q1 and Q2 (or Q3 and Q4) at the same time. If you did that,
you just have created a really low-resistance path between power and GND, effectively short-circuiting
your power supply. This condition is called ‘shoot-through’ and is an almost guaranteed way to quickly
destroy your bridge, or something else in your circuit.

4. What is necessary for the logic at the input of an H-bridge?

Logics 1 and 4 must be on for the motor to rotate in the right direction and Logics 2 and 3 for vice versa.

5. How many operational states do a two-input H-bridge has?

Two states.

6. Is it possible to use power MOSFET and bipolar transistors in the same bridge? Why or why not?

It is not possible. The surge coming from the FETs may destroy the BJTs rendering the circuit useless.
5.6 Review Questions

1. How much power is converted into heat by a linear control when the input voltage is 12 V and the
voltage in a 5 W load is 6 V?

(12 V x 5 V)/6 = 10 W

2. What is a rheostat?

A rheostat is a variable resistor which is used to control current. They are able to vary the resistance in a
circuit without interruption. The construction is very similar to the construction of a potentiometers. It
uses only two connections, even when 3 terminals (as in a potentiometer) are present.

3. In a linear power control, a transistor operates like what kind of passive component?

A transistor acts like a switch in a linear power control.

4. Can a variable voltage regulator be used as a linear power control?

Yes. A linear regulated power supply regulates the output voltage by dropping excess voltage in a series
dissipative component. They use a moderately complex regulator circuit to achieve very low load and
line regulation. Linear regulated power supplies also have very little ripple and very little output noise.

5. What is a constant current source?

A constant current source is a power source which provides a constant current to a load, even despite
changes and variance in load resistance. This comes in use when a circuit needs a steady current supply,
without fluctuations.

6. What is a duty-cycle?

Duty cycle, sometimes called "duty factor," is expressed as a percentage of ON time. A 60% duty cycle is
a signal that is ON 60% of the time and OFF the other 40%. Many loads are rapidly cycled on and off by a
fast-acting electronic switch which accurately controls the output power of the load.

7. In the anti-phase PWM, what is the power applied to a load when the duty cycle of the control
signal is 50 %?

The average voltage on both terminals is Vbat/2, and the average voltage across the motor is 0.

8. Why is it not possible to apply 100 % of the power to a load using a PWM control?

Electrical motors typically use less than a 100% duty cycle. For example, if a motor runs for one out of
100 seconds, or 1/100 of the time, then, its duty cycle is 1/100, or 1 percent.
6.6 Review Questions

1. Is the SCR a full- or half-wave device?

SCR is a half-wave device.

2. What is needed to trigger an SCR off when it controls a dc load?

(1)The anode or forward current of SCR must be reduced to zero or below the level of holding current.

(2)A sufficient reverse voltage must be applied across the SCR to regain its forward blocking state.

3. What is a quadrac?

Quadracs are a special type of thyristor which combines a "diac" and a "triac" in a single package.

4. What is the holding current of an SCR?

Simply put, it's the minimum current that will keep the SCR "turned on" and conducting once it has been
triggered.

5. How can a SCR cause interference in radio receivers while controlling ac loads?

SCR has an inherent switching noise that can interfere with radio communications systems especially the
receiving stations.

6. What is the name of the configuration used to speed up fuse burnout in a protective circuit?

Fast-acting.

7. What does the suffix “D” mean in the SCR TIC106-D?

Datasheet.
7.6 Review Questions

1. What is an SMA?

A shape-memory alloy (SMA, smart metal, memory metal, memory alloy, muscle wire, smart alloy) is
an alloy that "remembers" its original shape and that when deformed returns to its pre-deformed shape
when heated.

2. What is the most common alloy used in SMA’s?

SMA based on Ni-Ti is the alloys most frequently used in commercial applications because they combine
good mechanical properties with shape memory. The remarkable properties of SMA have been known
since the 1930's.

3. Does the length of an SMA increase or decrease when it is heated?

No. It just returns to its original shape or deformed shape.

4. What determines the force produced by a solenoid?

The magnetic field within a solenoid depends upon the current and density of turns. The energy density
of the magnetic field depends on the strength of the field, squared, and also upon the magnetic
permeability of the material it fills. Even small solenoids can exert forces of a few newtons.

5. Where is the magnetic field of a solenoid more intense?

Higher the number of turns, higher the length and thus the amount of current carrying coil material in
use is higher and thus higher the magnetic field due to increased amount of current flowing through
the solenoid as a result of the increased number of turns.

6. How can we determine the current across a solenoid when the resistance of the coil is given?

The inductors current continues to rise until it reaches its maximum steady state condition after five
time constants. The maximum current flowing through an inductive coil is limited only by the resistive
part of the coils windings in Ohms, and as we know from Ohms law, this is determined by the ratio of
voltage over current, V/R.
8.7 Review Questions

1. What is the basic difference between a stepper motor and a dc motor?

DC (Direct Current) Motors are two wire (power & ground), continuous rotation motors. When you
supply power, a DC motor will start spinning until that power is removed. Most DC motors run at a high
RPM (revolutions per minute), examples being computer cooling fans, or radio controlled car wheels! A
stepper motor is essentially a servo motor that uses a different method of motorisation. Where a servo
motor uses a continuous rotation DC motor and integrated controller circuit, stepper motors utilise
multiple toothed electromagnets arranged around a central gear to define position.

2. Can we use a stepper motor for the same purposes as a dc motor?

You can convert a dc motor to BEHAVE like a stepper motor by installing a shaft position encoder on the
shaft and connecting that to DC servo motor controller.

3. Can a stepper motor be controlled by digital circuits?

A stepper motor is a “digital” version of the electric motor. So yes, it can be controlled by digital circuits.

4. How many coils does a two-phase stepper motor use?

A two-phase stepper motor has two groups of coils.

5. What is a translator?

The translator in motors serves as an interface between the microprocessor and the motor.

6. What is the braking effect?

The lower the gear, the higher the braking effect due to higher rpm and the torque transferred through
the transmission (higher torque is delivered from the engine in lower gears). Engine braking avoids wear
on brakes, and can help a driver maintain control of the vehicle.

7. What determines the speed of a stepper motor?

Stepper motors' max speed will vary by manufacturer, model, and the inductance of the motor with
speeds of 1000-3000 RPM attainable (for higher speeds, servo motors are a better choice).

8. How can we reverse the direction of a stepper motor?

To change direction you need to reverse the current in one set of coils only.
9.6 Review Questions

1. Why must a debouncing circuit be added to a switch to avoid contact problems?

This ensures that only one signal can be registered within the space of a given time.

2. Why are reed switches filled with inert gas?

Reed Switches are filled with a a mixture of inert gases to exclude contaminants, prevent oxidation of
the contacts, and to prevent ice formation in low temperature applications.

3. Can we use a microswitch rated at 120 V x 1 A with a load rated for 48 V x 500 mA? Why or why
not?

Yes. A rating of 120 V x 1 A means that the load must not exceed the mentioned parameters and 48 V x
500 mA clearly doesn’t.

4. How can we produce a constant-length pulse from a momentary switch signal?

By adding a capacitor in the circuit.

5. What is the meaning of the specification “SPST” for a switch?

A single-pole, single-throw (SPST) switch is as simple as it gets. It's got one output and one input. The
switch will either be closed or completely disconnected.

6. How can we use a NO switch to turn off a load?

By positions the NO switch such that when it’s coil is energized and the switch flicks to the other
direction, it is connect to a supply without enough/any voltage to energize the load.

7. What is the maximum current you can drain from a CMOS output when the IC is powered from a 10
A source?

Maximum current < 10 A

10.6 Review Questions

1. What is a transducer?

A device that converts variations in a physical quantity, such as pressure or brightness, into an electrical
signal, or vice versa.

2. When exposed to light, what happens to the resistance of a CdS cell?

Its resistance decreases as the light intensity increases.

3. Temperature sensing can be added using what kind of sensor?

Thermistor can be added.

4. Why are small NTCs faster than large ones when sensing temperature changes?

Heat propagates much faster with smaller area so small NTCs are faster than large ones.

5. How can a robot see in the dark using an LDR?

LDR is light sensitive and it can detect even tiny amounts of invisible radiation or measure movement
that is too small or fast for the human eye to see.
11.6 Review Questions

1. How many inputs does an operational amplifier have?

An Operational Amplifier is basically a three-terminal device which consists of two high impedance
inputs. One of the inputs is called the Inverting Input, marked with a negative or “minus” sign, ( – ).

2. After amplification, what happens to the phase of a signal that is applied to the inverting input of
an operational amplifier?

It becomes anti-phase, meaning, it swings in the opposite direction.

3. What is the output of a comparator if the signal delivered to the non-inverting input is higher than
the reference voltage?

As the non-inverting (positive) input of the comparator is less than the inverting (negative) input, the
output will be LOW and at the negative supply voltage, -Vcc resulting in a negative saturation of the
output.
12.8 Review Questions

1. What is the difference between a remote control and a wireless control?

Remote control refers to controlling an item from a remote location, usually by an attached wire.
Radio/Wireless control refers to controlling an item remotely, by the use of radio waves.

2. What are the main disadvantages of a wired remote control?

(1) Some cameras do not allow for the insertion of a cable release.

(2) Most have shorter range.

(3) Concerns about tripping over the cable, tangling, or hiding the cable for selfie.

(4) Bigger.

3. What are the disadvantages of a sound-operated remote control?

(1) Background noise could sometimes lead to false triggering when the device made is set to a sensitive mode.

(2) Applied sounds to control the remote may cause disturbance to the people in the surroundings.

4. How can EMI affect remote control systems that use radio waves?

Electromagnetic interference (EMI), also called radio-frequency interference (RFI) when in the radio
frequency spectrum, is a disturbance generated by an external source that affects an electrical circuit by
electromagnetic induction, electrostatic coupling, or conduction. The disturbance may degrade the
performance of the circuit or even stop it from functioning. In the case of a data path, these effects can
range from an increase in error rate to a total loss of the data.

5. What is a PLL?

A phase-locked loop (PLL) is an electronic circuit with a voltage or voltage-driven oscillator that
constantly adjusts to match the frequency of an input signal. PLLs are used to generate, stabilize,
modulate, demodulate, filter or recover a signal from a "noisy" communications channel where data has
been interrupted.

6. What is a hybrid module?

A hybrid module is one that combines the components of traditional air-insulated switchgear (AIS) and
SF6 gas-insulated switchgear (GIS) technologies. It is characterized by a compact and modular design,
which encompasses several different functions in one module.
7. Why are frequencies in the UHF range more suitable for applications in short-distance remote
control?

Since UHF transmission is limited by the visual horizon to 30–40 miles (48–64 km) and often to shorter
distances by local terrain, it allows the same frequency channels to be reused by other users in
neighboring geographic areas (frequency reuse).
13.7 Review Questions

1. What is the difference between a monostable and a bistable multivibrator?

Monostable multivibrator is where one of the states is stable, but the other state is unstable (transient).
Bistable multivibrator is where the circuit is stable in either state. It can be flipped from one state to the
other by an external trigger pulse.

2. How can logic decisions be made using logic gates?

Logic gates are the basis of decision making for electronic devices. In essence, a logic gate takes input
and produces a single output by performing operations on the input. In this way, logic gates are
analogous to functions in mathematics. The input and output for a logic gate is in the form of bits
(binary digits) which are either 1s or 0s. The most basic logic gates have two inputs and one output with
the exception of the NOT gate, which has only one input. These basic gates are the building blocks of
more advanced circuits. For example, a single microprocessor may have millions of logic gates and is
capable of performing thousands of calculations per second.

Logic gates implement Boolean logic, which can be represented through a Truth Table. A Truth Table is a
tabular representation of the inputs and the output of a logical operation. On the left hand side, all the
possible combinations of the input are written and on the right hand side, the output of the Boolean
operation performed on the given inputs is written.

3. How can a counter be used to perform logic tasks?

Counter is a sequential circuit. A digital circuit which is used for a counting pulses is known as a counter.
Counter is the widest application of flip-flops. It is a group of flip-flops with a clock signal applied.

4. How can we program multiple time intervals using the monostable 555?

A monostable 555 timer produces a time delay within a circuit. By using a timing capacitor and resistor
of desired value, you can control the time delays between each successive interval in the circuit.

5. What is the 4013 CMOS IC?

It is a monolithic complementary MOS (CMOS) integrated circuit constructed with N- and P- channel
enhacement mode transistors. Each flip-flop has independent data, set, reset, and clock inputs. Setting
or resetting is independent of the clock and is accomplished by a high level on the set or reset line
respectively.

6. What is DAC, and where it is used?

DACs are commonly used in music players to convert digital data streams into analog audio signals. They
are also used in televisions and mobile phones to convert digital video data into analog video signals
which connect to the screen drivers to display monochrome or color images.
7. What is a VCO, and where it is used?

The applied input voltage determines the instantaneous oscillation frequency. Consequently, aVCO can
be used for frequency modulation (FM) or phase modulation (PM) by applying a modulating signal to
the control input. A VCO is also an integral part of a phase-locked loop.
14.8 Review Questions

1. What is Intelligence?

This is important block that is used in many Mechatronics and Robotics projects. Intelligence often can
be considered as an independent block.

2. What is the difference between intelligence by hardware and by software?

Hardware links provide the data processor needs to make decisions and communicate with the control
block. While software intelligence is provided by a computer, microprocessor, microcontroller in which
any intelligent software runs.

3. How can a circuit learn?

Hardware Intelligence is another way to add intelligence to machine is by using circuits that can learn.
The basic idea is to imitate the way living begins process the information they receive via senses.

4. What is a thermal memory cell?

Where a byte of digital information can be stored into the storage medium by pure thermal
manipulation. The storage media are magnetically frustrated solids.

5. How can an electronic neuron learn?

The flow requires development of a model of a system.

6. How can a microprocessor be used to add intelligence to a robot?

In such a case, the program can “learn” with experience, which is co-considered to be a basic Software
intelligence can be located inside the own robot or mechatronic machine when microprocessor are used.

7. What is neural network?

A computer system modelled on the human brain and nervous system.

8. What is an ADC?

Stand for “Analog-to-Digital Converter” Since the computers only progress digital information, they
require digital input. Therefore, if an analog input is sent to a computer, an ADC is required.

9. How many outputs does a parallel port have?

The PC parallel port usually consists of 25 pins in a DB-25 connector. These pins can interface to a TTL
logic of an external device, either as inputs or outputs.
15.6 Review Questions

1. What is a sequential light?

It consists — in essence — of a clocked IC or other electronic unit that drives an array of LEDs in such a
way that individual LEDs (or small groups of LEDs) turn on and off in a predetermined and repeating
sequence, thus producing a visually attractive display in which one or more ripples of light seem to
repeatedly run through a chain or around a ring of LEDs.

2. What is the stroboscopic effect?

The stroboscopic effect is a visual phenomenon caused by aliasing that occurs when continuous motion
is represented by a series of short or instantaneous samples.

3. Can we use a vox (voice-operated) circuit to control a robot?

Yes but it is very sensitive to noise and it is very crucial to make.

4. How can high voltage be generated from batteries and cells?

The simplest solution is to use a flyback converter, which uses galvanic isolation between the input and
output and can convert either AC/DC or DC/DC. The flyback is basically a buck-boost converter where
the inductor is set up to form a transformer. Within the design, the transformer is used to multiply the
voltage but is also useful as it adds the benefit to the design of isolation. For example, when surge
suppression parts are used at the input and the output, with the whole line isolation, it helps in the
continuous filtering of power line noises in all modes or protects sensitive circuitry or even humans from
shock when touching equipment.

5. How can we record voices and other sounds on a chip?

Sound algorithms are embedded into the chip’s program to allow extraction of sounds in its
environment.

6. Are high voltages always dangerous?

A high voltage is not necessarily dangerous if it cannot deliver substantial current.

7. How can NiCad and other batteries be recharged?

NiCad and NiMH batteries are amongst the hardest batteries to charge. The charging is based on forcing
current through the battery. The voltage to do this is not fixed in stone like it is for the other batteries.

This makes these cells and batteries especially difficult to charge in parallel. This is because you can't be
sure that each cell or pack is the same impedance (or resistance), and so some will take more current
than others even when they are full. This means that you need to use a separate charging circuit for each
string in a parallel pack, or balance the current in some other way, for example by using resistors of such
a resistance that it will dominate the current control.