浙江大学生物系统工程-生物生产机器人-k机器人复习hz整理..docxVIP

生物生产机器人 去年试题（回忆版）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=brain Manipulator 一、Cartesian coordinate type直角坐标 3＊prismatic jointCylindrical coordinate type圆柱坐标 2＊prismatic joint＋1*rotational jointPolar coordinate type极坐标1＊prismatic joint＋2*rotational jointArticulated type 多关节坐标3*rotational jointSCARA 1＊prismatic joint＋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)operational space measure of manipulatabilityposture diversityend-effector一、Robotic hand should be developed based on…Physical properties of objectbasic physical properties shape, size, color, massdynamic properties cutting resistance, frictional resistance摩擦阻力, elasticity, viscosity粘性optical propertiessonic propertieselectrical properties biological properties chemical properties二、motion of 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 primary colors / 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. munsell renotation芒赛尔标度 2. chromaticity(XYZ color corrdinate system: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