浙江大學生物系統(tǒng)工程-生物生產(chǎn)機器人-卷子1

1、1.Why is the bioproduction robot necessary? Answer：(1) Although many agricultural operations have been mechanized, there are still many treacherous, laborious，and monotonous tasks that are not suited for human beings，but require certain human like intelligence to perform；(2) The availabili

2、ty of the farming workforce is decreasing at an alarming rate in many countriesCompared With many other industries, agriculture is less attractive for the younger generation，as indicated by recent trendsThis means that the supply of human resources for farming will continue to decrease in the forese

3、eable futureThe development of bioproduction robots，especially the kind with expert knowledge，can serve to preserve some farming expertise；(3) The problem of labor shortage frequently results in rising labor costs，if the production is to continue；(4) The market demand for product quality h

4、as become an important factor in bioproductionQuality evaluation of products has relied mainly on human judgment.2.How to analysis the colors feature of a fruit? Answer：(1) Open a fruit image.(2)Split the fruit image into R, G and B component (or Chromaticity) images.(3) Chose one of the R, G and B

5、component images, and make the fruit area as ROI.(4) Calculate the R and G component histogram of the ROIs, and get t he R component mean value and the G component mean value of the fruit.(5) Use x=R/(R+G+B) and y=G/(R+G+B) the get the x-y coordinate value (x, y).(6) Plot (x,y) on the x-y coordinate

6、 graph.3.How to locate the defect area on the image of a tomato? Answer：1) Open the tomato image.2) Split the tomato image into R, G and B component images.3) Chose one of the R, G and B component images, using Sobel operator to get an edge image.4) Binarize one of the R, G and B component images to

7、 a binary image.5) To make the edge image and binary image using an operator, and then get the defect area of the tomato.4.What color expression methods is used in a machine vision system? Give 3 methods at least. Answer：1) Munsell Renotation.2) RGB chromaticity（XYZ color coordinate system：rgb

8、ratios）4) L*a*b*.5) HSI (Hue, Saturation, and Intensity).5.What shape expression methods is used in a machine vision system ? Give 3 methods at least. Answer：1) Compexity.2) Ferets diameter ratio.3) Circularity factor.4) Occupancy.5) moment.6) deformation from gravity center.6.What is the advantage

9、of the wide-span vehicles？Answer：1).Harmful influence on plants caused by soil compaction can be reduced because track units pass on a fixed path 2).An implement mounted on a frame beam can perform its task regardless of the ground condition 3).Several operations can be accomplished by a change in i

10、mplements 4).The wide working width enhances working efficiency and results7.Why is the sunset color red and the sky blue in day time? Answer：The Earths atmosphere contains both air molecules and tiny suspended particles (tinier than a wavelength of light), both of which scatter light (send it off i

11、n different directions). This scattering effect affects light of shorter wavelengths more than longer wavelengths. Longer wavelength light transmits from the sun to the earth, while the shorter wavelength light scatters. we see the bule color of the shorter wavelength light scattered in the sky.8.Ho

12、w can we judge an orange is good? Answer： 1) color: reddish color is better2)  shape: flatten 3) size: mid is best4) texture: smooth surface is better 9.Please calculate the DOF (degrees of freedom) of our arms. Answer：A human arm have 7 DOFs. The shoulder has 3 DOFs, the elbow has 1-2 DOF

13、s, and the wrist has 2-3 DOFs (wrist roll is sometimes included as one of the degrees of the elbow).10.Describe what you learned on reflectance of plant parts in several sentences. Answer： 1). The figure shows thy typical spectral reflectance of parts of plants in the near-ultraviolet, vis

14、ible, and near- infrared regions. The plants need the photosynthetic active radiation (400-700nm wave band, mostly red and blue light) portion of light for photosynthesis, so the leaves reflect green-colored light. This is reason that the leaves are green.2). The flowers' reflectance between 500

15、nm and 700nm is high, so the flower is yellow. Similarly, the fruit 1 is purple and green, the fruit 2 is red. We can ensure the color of parts of plants based on their reflectance.3). In the near-infrared region, there are many absorption bands due to water at 970, 1170, 1450 and 1950nm, and all pa

16、rts of the plant have higher reflectance here than in the visible region. The absorption bands at 970 and 1170nm are not due to flower petals and leaves but to fruits and stems. These wavelengths can be used for discriminating them from the other parts of the plant in the near-infrared region.11.How

17、 could you get the distance D from the lens to each fruit in the direction of the lens axis by two images at different viewpoints using binocular stereo-vision system?  Answer： By the triangular measurement principle, we can get it.12.Please describe the measuring method for distance of po

18、sition-sensitive device (PSD).  Answer：The position-sensitive device (PSD) is used to measure distances. A light beam from the light projector is reflected at the surface of the object. The reflected light is focused by a lens on the sensitive zone of the PSD as a small image. The PSD has two a

19、nodes, A and B; the ratio of these anode currents changes according to the position of the image. The distance to the object is calculated with these two currents by triangulation. 13.How many types of lamps are there？ Answer：Halogen,Incandescent,Fluorescent,LED,HID.14.Why are leaves green?

20、60;Answer：The leaves absorb the red and blue color, reflect the green color, so we will see the leaves are green.15.How many types of actuators are there?  Answer：1)Electric actuator: DC Motor, AC motor, Stepping motor, Servo motor, Solenoid, etc.2) Hydraulic actuator: Hydraulic cylinder, hydra

21、ulic motor3) Pneumatic actuator: Air cylinder, Air motor4) SMA actuator16.What are the required components for the bioproduction robot? And describe their functions. Answer：The required components for the bioproduction robot are manipulators, end-effector, vision sensors, traveling device, cont

22、rol device, and actuator. Their functions are:.  Manipulators: to carry out the special task of the machine.  End-effector: to play a role similar to that of a human hand at the end of the manipulator. .  Sensors: includes internal sensors and external sensors, to know

23、the environmental conditions around robots.  Traveling device: to make the operation space of the manipulator larger. .  Control device: to control the robotic components.  Actuator: to provide power for the robot.17.what is color temperature？ Answer：Color and temperatu

24、re don't seem to have a direct relationship with each other, but light sources are often defined in terms of their color temperature. In addition, the measurement of color temperature is in Kelvin degrees.For example, the color of the light emitted by a flash is rated at 5500 degrees; it is designed to imitate noon daylight. I