FEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING TECHNOLOGY (SESET) DEPARTMENT OF MECHATRONICS ENGINEERING HARMATTAN SEMESTER EXAMINATION 2020/2021 SESSION ‘Computer Aided Manufacturing (MCE 517) November 3, 2021, INSTRUCTION: ANSWER ANY FOUR QUESTIONS: Attempt at I st one Question from each section TIME ALLOWED: 2% hrs SECTION A + 1a, What is Addictive Manufacturing or 3D Printing? State and Explain 3 technologies of Addictive ‘Manufacturing (10 marks) 1b, Write Short Note on Fused Deposition Modelling and list two most common materials used in FDM processes, (5 marks) Je, State any five advantages and 3 disadvantages of computer numerical controlled machine. (5 marks) 2a, Explain Numerical Control? List the basic components of an NC system and write short notes on each component. (10 marks) 2b. List and Explain the 5 Numerical Control Procedure. (5 marks) 2c. Explain briefly the following; NC Coordinate System, Fixed Zero and floating Zero, Absolute Positioning and Incremental Positioning (5 marks) + 3a, In NC there are 3 basic types of motion control, state and explain with diagrams (10 marks) 3b. Explain NC part Programming? and State Applications of Numerical Control (Smarks) 3c. others. (5 marks) ifferentiate between CNC, DNC, and Adaptive Control, what advantage(s) does DNC have over ‘fa, With the aid of a block diagram, show the simplified operation procedure of a CNC machine. (10 marks) 4b. Write short notes on the following; CNC laser cutting Machine, CNC Coordinate Measuring Machine, CNC Electron Beam Machine, CNC Electro-Discharge Machine. (8 marks) 4c, Explain Computer Integrated Manufacturing, (CIM) (2 marks) SECTION B Jona 22. What is tansformation in graphics? (S marks) 1b. List the five basic transformations and define any three. (5 marks) ~ Jc. The rectangle shown in fig. 1. below is rotated by 30° anticlockwise about (i) origin (ii) about the point (40,20}., Compute the new co-ordinates in both cases. (20 marks) 50 10 20 30 40 50 Fig. «+ 2a, By means of a diagram, ist the various stages in a design process and explain any three. (10 marks) 2b, Describe the roles of computer in manufacturing, (5 marks) 2c. What is a graphics software? (5 marks) Scanned with CamScannerFEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING TECHNOLOGY DEPARTMENT OF MECHATRONICS ENGINEERING HARMATTAN SEMESTER EXAMINATION 2020/2021 SESSION COURSE TITTLE: Process Automation Management Code/Unit: MCE 511/2 Date: 04/11/2021 Time allowed: 2hrs INSTRUCTION: Attempt any @a@8B five questions SECTION A (Questions 1-4 carries equal mark) ‘6 1a, Describe the control circuit, power circuit and logical operation of an online motor starter PLC. (b) Explain briefly the following with respect to problem solving in process automation management (Failure mode (ii) loss 44 2a) What do you understand by Topology of networks? (b) Differentiate between Network Topology and Network layers. Give examples of each of them. (©) Explain the factors to be considered during design of distributed control system. (Ba) One of the objectives of maintenance is to ensure that maintenance is planned to fit production requirements Explain. (b) Make a detailed list of management function in a maintenance organization (©) Predictive maintenance strategy, is generally a preferred method in modem mechatronics care: Explain. (d) Mention types of maintenance costs and how can they be reduced. (4a) what do you understand by (i) Wireless Security, (ji) Authentication, and (iii) Hiding SSID, as related fo Network in monitoring control unit (b) Explain briefly the following with respect to problem solving, State two examples of each; (i) Functions ailure (ii) Failure Mode, (c) In what way(s) does MTBF determine availability of production machine. SECTION B 4(5) Fire and gas (F&G) detection systems are key to maintaining the overall safety and operation of industrial factities. Therefore, itis imperative to use F&G system to ensure early detection and mitigation of a fire or gas leakage in industrial areas. Briefly discuss the concept of F&G system and its application, {20 mks}. . 4(6) A typical F&G safety system comprises heat and smoke detection, logic control, and alarm and other mitigation funetions. (a) sketch the subsystems of F&G system. (Smks). (by Discuss and sketch ionization smoke detector, {1Smks}. $1) A programmable automation controller (PACY is a compact controller that combines the features anct capabilities of a PC-based control system with that of « typical PLC. (a) Name five areas of application of PACS in indastrial setting. {Smks). (b) Generally, PACS and PLCs serve the same purpose; critically identify the differences between PAC ani! PLC. {10mks}.. , (6) Discuss PAC Data exchange with enterprise systems {Smks}. Scanned with CamScannerFEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING TECHNOLOGY DEPARTMENT OF MECHATRONICS ENGINEERING HARMATTAN SEMESTER EXAMINATION 2020/2021 SESSION COURSE TITTLE: Vibrations Code/Unit: MCE 507/ 2 Date: 06/11/2021 ‘Time allowed: 3hrs INSTRUCTION: Attempt question one and any other four questions 1, Use the equivalent system method to derive the differential equation governing the free vibrations of the system in Figure 1. Use x, the displacement of the mass centre of the disk from the system’s equilibrium position, as the generalized coordinate. The disk rolls without slipping, no-slip occurs atthe pulley, and the Pulley is frictionless. Include an approximation for the inertia effects of the springs. Each spring has amass mmss. {20 Marks} ou. o wo) BT) yw ai Sm ec) , el PER he Ds 2a. The undamped system of a fy is monic motion. The general solution is a linear x(0) = ACos@Sinan + ASoCos fx3-+ (2), = tan (2222), (10 Marks) oe (b) With the aid of a clear g¢ the fasponse of the undamped system described by the equation, ye Stated above and explain the syst@hrFesponse as depicted by the graph_ {10 Marks} Ag ¢: Sper 3a, Write the equation for the total energy in the urderdamped SDOF system atthe end of the neycle. —-V (2 where wg isthe damped natural frequency ) and the energy dissipated as the system executes ong cycle of motion. {5 Marks) v x (©) Cements on the two equations writen above indicating what happens at a larger damping ratio as the RS energy is dissipating, and what happen if Jin = 1? (16 Marks} EO) (©) State all the six equations use to describe the logasithmic decremett Of lerdamped SDOF srsen fy a ois re eeey De 2 VAS yet An accelerometer used in micro-electromechanical (MEMS) application is shown in Figure 2 below. The < accelerometer consists of a rigid bar between two massless fixed-fixed beams that are acting like springs. 7V The bar is free to vibrate in the surrounding medium, which provides viscous damping. && (2) Determine the response of the accelerometer that has the following differential ‘governing equation of the form; 4.6. 10-17% + 4.93. 10-7% 4 0.380x = 0, the accelerometer is assumed to have an initial ‘Velocity of 30 m/s and an initial displacement of 0 m. {1$ Marks) (©) What is the value of the displacement at t= | us? (5 Marks} @ 2 wy ey Ce x hee w Lye re NS Lo oe & a oa) ce 2 ~ 7 feet a ve Scanned with CamScanneryrtA LON Ts, mT Ep BARR _ cen FP | aon ge PESTO 0S a Cross-section of beams ia =O ‘eam 4 orem Bettas pars] ‘of vibration ) © no Figure 2. (a) MEMS accelerometer consists of a rigid bar between two fixed-fixed beams that vibrate in a viscous liquid. (b) SDOF model of the system. (c) Calculation of viscous damping coefficient. yor Sa Name five methods of solving the Particular,for forced vibration of SDOF systems. (b) Give the condition for periodic excitation (c) Present an expression for a single frequency periodic excitation and steady-state response for a periodic excitation, (d) Sketch three examples of periodic excitation and define conditions when @—+tdq, W = Wy, and @ # Wy. (20 Marks} 6. The particular solution of a viscously damped SDOF system with single-frequency harmonic excitation Fe is given by x(p) = X sin(wt +. - ©), where X = ——»____, c= Meq{(w2-02)*+2¢e09)*] tan“ (24222), x is the amplitude-frequency and is the phase angle between the response and the excitation, Derive the non-dimensional forms of X and useful for the system analysis and comment on the results obtained for different values of frequency ratio (r) and damping ratio ¢. (20 Marks} 7. Describe in detail the characteristics of the system depicted in the figure below and present necessary ‘equations to aid explanation. (20 marks} a (a) Figure 3. System response when (a) w = Wp (b) @ © Wy eS BAF ie Sy ‘ee Scanned with CamScannerFEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING TECHNOLOGY (SESET) DEPARTMENT OF MECHATRONICS ENGINEERING. TIME: 2vrehours ‘COURSE: MCE 501 INTRODUCTIONS TO ROBOTICS. HARMATTAN SEMESTER EXAMINATION. SESSION: 2020/2021 INSTRUCTION: ANSWER.ANY FOUR QUESTIONS ONLY Roy Fig Question 1 (a) Draw the block diagram of a typical robot control and briefly explain the various blocks [8 marks]. (0) Briefly explain error response in a controler and state the characteristics of a good error response. [5 marks) (c) State and differentiate the two time responses ofa control system. [5 marks] (d}. Consider a first order system with unity feedback as shown in figure 1. Calculate the response of the first. order system with unt step input. [7 marks] Question 2 __ 2) Classify the following robot tasks as motion control, force control, hybrid motion-force contro, impedance control, ‘or some combination, Justify your answer. () Tightening a screw with a gerne (i) Pushing a box along the, Gi) Pouring a glass of water (v) Shaking hangs with @ human (v) Throwing gp ball to hit a target (vi) Shoveling, snow (vii) Digt e hole (vii) Giving a big massage (ix) Vacuuming the Ih Camying 3 of glasses.[10 marks} Mt (b) State the equation of a feedforward plus Pl feedback controller generating joint velocity commands for a mult- joint robot and at what point does joint error 6,1) converge to zero [7 marks} (c) Linear error dynamics of a system is stable, and all initial erors converge to zero, if and only if {8marks) Question 3 {@) State the Griibler's formular, [5 marks} (b) A Delta robot with a mobile lower platform and an upper stationary one is ‘connected by three legs and has a total of 17 links and 21 joints. If each of these legs contains a parallelogram closed chain; three revolute joints, four spherical joints and five links. Determine the degrees of freedom of this robot using the Gribler's formula [15 marks] (c) Mention 2 application areas and 3 possible end-effectors for a robotic arm. [5 marks] Scanned with CamScannerFig 4 Robotic Arm port V Question 4 Consider the robotic arm inFig 4, The jin labelled B is Universal joint. All ther joints are Revolue joints. i. Calculate the number of Degrees of Freedom forthe robotc arm. [10 marks} i |What's the implication of changing jint ‘A’ into @ Spherical joint? [10 marks] ii, Mention five types of robot joints and their respective degrees of freedom(S marks) wy Question 5 — ; ly u Fig Sa Fig 5b (2) Determine the Forward Kinematic expression that gives the position of the 2-cimentional structure in fig Sa. [10 marks) (0) Calculate the position of the 2-dimensional stucture shown in fig Sb. take @1 = 459, @ = 150, Lt = Jom and L2 = 2om. [15 marks} Scanned with CamScannerFEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI ‘SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING AND TECHNOLOGY DEPARTMENT OF MECHATRONICS ENGINEERING UNDERGRADUATE EXAMINATION 2020/2021 SEMESTER: HARMATTAN COURSE: MOBILE ROBOTICS TIME ALLOWED: 2.5 hours INSTRUCTION: Answer any FIVE QUESTIONS ‘CODE: MCE 523 DATE: 10/11/2021 restion 1 rents) Mention at east one sensor a mobile root can ute to detect obstacle while in motion. 2mks (b) With a clear diagram describe the working principle of the sensor mention in (1a) above. 7mks (©). Show how the sensor in (1a) can be interfaced to a microcontroller. 7mks (@) What other areas can the sensor be applied apart from mobile robotics? Amks estion 2 (a) What does RFID stand for? 2mks (b) Discuss how RFID can be used by a mobile robot to detect a stolen item. 18mks Auestion 3 ‘Astificial Intelligence is a branch of science which deals with helping machine to find solution to complex problems in a more human factors. Elaborate this definition in terms of | (a) reasoning (b) learning (©) planning (a) perception (@) knowledge acquisition (8) intelligent search 20 mks vbuestion 4 Explain the following factor as related to the field of Artificial Intelligence (2) logical (b) search (©) pattern recognition (4) representation Interference (€) learning from experience. 20mks Vouestion 5 (G) State aid briefly explain two main kinds of sensors used in digital still and video cameras today. (8 marks) (b) State two advantages and disadvantages of each of the two sensors stated above. (8 marks) (c) Explain briefly camera calibrations and state some of the techniques used in calibrating a digital camera. (4 marks) Question £0 (@) Explain briefly central omnidirectional vision systems and Stereopsis? and give 5 application of omnidirectional vision systems (8 marks) (©) Differentiate dioptric, catadioptric and polydioptric cameras (6 marks) (6) State two major problems in computational stereopsis (2 marks) (4) Outline the three major goals of optical edge detection in image processing. (4 marks) Scanned with CamScanner‘ FEDERAL UNIVERSITY OF TECHNOLOGY, OWERR! SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING TECHNOLOGY (SESET) DEPARTMENT OF MECHATRONICS ENGINEERING HARMATTAN SEMESTER EXAMINATION 2020/2021 SESSION Partial Automation Laboratory (MCE 513) November 9, 2021 INSTRUCTION: ANSWER ANY 4 QUESTIONS: TIME ALLOWED 2 % HRS; Each Question Carriers 25 marks 1a. Explain the terms latching and internal relays, give examples using simple ladder diagrams. (6mark) ' Figure | shows the ladder diagram with Mitsubishi notation for the addresses. Explain the application of latching in the diagram. (5 marks) sian Stop. Matoreate upucconacs nov apne Yeo ye b. Draw the ladder rungs to represent: ’). A motor is switched on by pressing a spring-return push button start switch, and the ‘motor remains on until another spring-return push button stop switch is pressed. ii). A lamp is to be switched on if there is an input from sensor A of sensor B. (4 marks) es, stating the form of the signal. c. Explain briefly the operation of the following input de being sensed and the output: (a) reed switch, (b) incremental shafi encoder, (c) photoelectric transmissive switch, (d) diaphragm pressure switch. (10 marks) 2a. What is a field bus? and state the advantages of using field buses over point-to-point links in industrial communications. (8 marks) b. State and explain with the aid of a block diagram the various layers of the OSI model. (9 marks) ¢. What is the difference between a repeater, a bridge and a router? (8 marks) 3a. Explain the following recommended fieldbuses (i) CAN (ii)PROFIBUS (iii) WorldFIP. (10 marks) b. Compare the following types of fieldbuses based on the following in column | of the Table below (15 marks) Scanned with CamScanner4a. Draw the internal architecture of the PLC showing its auidress buses (10 marks) State and expluin the two forms of a PLC and give examples (5 marks) ©. What isa PLC? and State 3 advantages of a PLC (5 marks) 4.4 PLC is made up of four internal bus system, state and briefly explain (5 marks) 3a, Explain briefly the term sourcing and sinking and illustrate using diagrams. (7 marks) b. State and explain briefly six features that define performance of a good sensor. (8 marks) © The location of stop switches with many applications has to be very carefully considered in order to ensure a sate system, Explain and illustrate with diagrams (5 marks) 4A signal lamp is required to be switched on ifa pump is running, and the pressure is satisfactory, or ifthe lamp test Switch is closed. Draw & explain the ladder and function block diagram, (S marks) 6a, Explain briefly SCADA systems and Give five areas of application. (6 marks) b. State the four basic parts/components of a SCADA systems and List six field instruments (8 marks) ¢- Outline in steps real-time monitoring and control of a SCADA system. (4 marks) 4. State the four major functions performed by a SCADA system, and explain the components that perform these functions. (7 marks) Table 1.0 Fieldbuses | BACnet | ISP CAN CEBus WorliFIP Comparison ost Application Communit | Based urs Based Bus Type wr Ret Type Communication Method! Media recess Alport Media Support Scanned with CamScannerFEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI SCHOOL OF ELECTRICAL SYSTEMS ENGINEERING TECHNOLOGY (SESET) DEPARTMENT OF MECHATRONICS ENGINEERING HARMATTAN SEMESTER EXAMINATION 2020/2021 SESSION Digital Signals and Modelling (MCE 503) November 11, 2021 INSTRUCTION: ANSWER 5 QUESTIONS IN ALL; Attempt at least two questions from each section. TIME ALLOWED 2% HRS ert. Define the z-transform and list its practical applications in Engineering (5 marks) Ip, What is the difference between the unit step function u(n) and the impulse function 6(n)? Derive the expression for the z-transform of the two functions above. (5 marks) Consider a signal whose response is given as y(n) = 0.5y(n ~ 1) — 0.06y(n— 2) + x(n) — 0.Sx(n— 1) i) Sketch the pole-zero plot using the information given. ii) Determine the state of the system (5 marks) 4, Sketch the block diagram of the signal y(n) = x(n) + 0.7x(n ~ 1) + 0.12x(n ~ 2) (5 marks) 2a, Explain filtering and state its applications (5 marks) b. Using suitable diagrams, show the line graph of the following (indicate tan arbitrary cut-off frequency of each): (i) Low-pass filter. (iii) Band pass filter (ii) High-pass filter (6 marks) ¢. The difference equation of a DSP system is given asy(n) = x(n) — x(n — 1) ~ L1y(n - 1) - 0.28y(n — 2). Find (i) The transfer function H(z) (ii) The denominator polynomial A(z) (iii) The numerator polynomial B(z) (9 marks) a State two differences between discrete signals and continuous signals (include diagrams Where necessary and give two examples of each) (5 marks) b. The vector matrix of a 4-pt DFT is shown below Vv Ao] ft 1 1 17/40) & Ad ift -i -1 i f[a 42} 2 1 1 1) Jae) io-1 =i a 4 1 a3, e “y Draw the butterfly diagram of the above using the given information (5 marks) wy é «For a causal sequence’of a DSP system, show that for a double-delayed output signal y(n), ot Ayn — 2)) = y(—2) + 2-4y(-1) + 2FY@) IY) = Eiko y(n)z"] (10 marks) oo nw » yee A signals sampled in the parabolic sequence y(n) =", Draw a plot ofthe signal when, @te So x acs is delayed by one sample (ii) Advanced by two samples (4 marks) >. Determine which of the signals are symmetrical: i) y(n) = cos 2n iijy(n) = n? + sinn (2 marks) €. State the rules for obtaining the inverse z-transform of a system (4 marks) d. Find z-transform of the following 4) 8(n — bp ii) 5(n + k) ili) a™“*u(n — 1) iv) €-" (g marks) e. Enumerate any four benefits of digital signal processing (2 marks) Scanned with CamScannercm oa Section B a, ae i yn ‘1a. With the aid of a block diagram explain a digital signal processing scheme (8 marks) b. State sampling theorem and explain (i) Folding frequency (ii) Aliasing (4 marks) . Assume an analog signal is given by x(t)=3cos(2m * 1,500t) + 2cos(2m * 2,200t) for t > 0 and is sampled at a rate of 8000 Hz (i) Sketch the spectrum of the sampled signal up to 20 kHz. (ii) sketch the recovered analog signal spectrum if an ideal low pass filter with a cut off frequency of 4kHz is used to recover the original signal y(n) = x(n) in this case, show aliasing from the sketch and state its frequency (8 marks) 2a, Explain Analog to digital (A/D) conversion as a three step process, and illustrate with block diagram. (8 marks) b. Consider-the analog signal xq(t) = 3cos.2000nt + Ssin, 6000nt + 10cos. 12000n¢ i. Whatis the Nyquist rate for this signal? (2 marks) ii, Assume now that we sample this signal using a sampling rate Fs = 5000 samples/s. What is the discrete-time signal obtained after sampling? (4 marks) iii, What is the analog signal y,(t) we can reconstruct from the samples if we use ideal interpolation? (6 marks) 5-3. An LTI system has an impulse response hi[n] for which the z-transform is H@)= Y2__ Aine" = — lzl>% i, Plot the pole-zero pattern for H(z) (10 marks) ii, — Using the fact that signals of the form z® are Eigen functions of LTI systems, determine the system output for all n if the input x{n] is, X{n] = Q + 3(2)" (10 marks) Scanned with CamScanner