University of Mumbai

Examination Second Half 2021 under cluster _ (Lead College: ALL)

Examinations Commencing from 22nd November 2021 to 5th January 2022
Program: Computer Engineering
Curriculum Scheme: Rev 2016
Examination: BE Semester VII
Course Code: 42155 and Course Name: Big Data & Analytics (DLOC - III)
Time: 2 hour 30 minutes Max. Marks: 80
=====================================================================

Choose the correct option for following questions. All the Questions are
Q1.
compulsory and carry equal marks.
1. Which of the following is a core concept of Hadoop?
Option A: Applications depend on the network infrastructure
Option B: High level of communication exists between the various nodes.
Option C: All data are distributed in advance
Option D: If a node fails performance will dip

2. Which of the following is not a feature of stream data?

Option A: Ordered
Option B: Continuous
Option C: Huge
Option D: Persistent

3. Which of the following NoSQL data store will be suitable for storing customers
shopping cart information on ecommerce site?
Option A: Cassandra
Option B: Riak
Option C: Hbase
Option D: MongoDB

4. ________ is the node that holds the user data in the form of Data Blocks.
Option A: Name Node
Option B: Secondary Name Node
Option C: Data Node
Option D: Server Node

5. Consider a stream as: S = {4 2, 1, 3,5} Let hash function be (3x + 2) mod 4, find
the no. of distinct elements using Flajolet Martin algorithm?
Option A: 4
Option B: 8
Option C: 2
Option D: 1

6. Calculate Edit distance between “Knock” and “Flock”.

Option A: 1
Option B: 2
Option C: 3
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Option D: 4

7. ___________________ problem is associated with content based filtering.

Option A: Cold Start
Option B: First Rater
Option C: Scalability
Option D: Sparsity

8. In _____________________ type of sampling recently added elements are most

likely to be in sample than long ago arrived elements.
Option A: Reservoir Sampling
Option B: Concise Sampling
Option C: Random Sampling
Option D: Biased reservoir sampling

9. Which of the following would be an example of Who-Talks-To -Whom type of

graph?
Option A: Co-authoring a paper
Option B: Web
Option C: Microsoft Instant Messenger
Option D: Co-occurrence of actors in the movie

10. “Finding maximum temperature every hour” is a type of ___________________

query.
Option A: Continuous
Option B: One Time
Option C: Periodic
Option D: Ad Hoc

Q2

A Solve any Two 5 marks each

i. Why is it difficult to work with stream data?
ii. Give a brief overview of hadoop core components and Hadoop Ecosystem
Components.
iii. What do you mean by Cosine similarity? Illustrate with example any two
applications that can use Cosine similarity.

B Solve any One 10 marks each

i. Describe any one Community detection algorithm for social media with an
example.
ii. Explain the architecture of Data Stream Management Systems. How is it
different from DBMS?

Q3

A Solve any Two 5 marks each

i. What are the properties and limitations of Hadoop?
ii. What are combiners? When should a combiner be used in a mapreduce job

2 | Page
 explain with an example?
iii. Compare KeyValue No-SQL datastore with Document based NoSQL datastore.
B Solve any One 10 marks each
i. Explain how Hadoop's mapper and reducer work, with an example of performing
any relational algebra operation using Map Reduce.
ii. Illustrate how dead ends are handled in PageRank.

Q4.

A Solve any Two 5 marks each

i. Explain the components of the web's Bow-tie structure.
ii. Investigate problems in Flajolet-Martin (FM) algorithm to count distinct elements
in a stream.
iii. Explain in detail any two Big data Applications based on NoSQL.

B Solve any One 10 marks each

i. Explain the DGIM algorithm and solve the following problem :
Consider the data stream shown below with N=14. 10011010101011101
i) Show one way of how the above initial stream will be divided into
buckets and count distinct 1’s.
ii) The following bits enter the window one at a time: 10101. What is the
bucket configuration in the window after this sequence of bits has
been processed by DGIM and count distinct 1’s.

ii. Explain any one Big Data Clustering algorithm.

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University of Mumbai

Examination Second Half 2021 under cluster All (Lead College: All)
Examinations Commencing from 22nd November 2021 to 5th January 2022
Program:Computer Engineering
Curriculum Scheme: Rev 2016
Examination: BE Semester VII
Course Code: CSC701 and Course Name: Digital Signal and Image Processing
Time: 2 hour 30 minutes Max. Marks: 80
=====================================================================

Choose the correct option for following questions. All the Questions are
Q1.
compulsory and carry equal marks
1. Digitizing Amplitude values is called
Option A: Filtering
Option B: Illumination
Option C: Quantization
Option D: Sampling

2. Which of the following is not an edge detection Mask?

Option A: Robert cross gradient
Option B: Prewitt mask
Option C: Low pass Averaging mask
Option D: Sobel mask

3. Perform Contrast stretching on a 4 bpp image with values r1=4, r2= 9, s1= 2, s2 = 13
and what will be the resulting values of Gray level 7
Option A: 6
Option B: 7
Option C: 5
Option D: 9

4. Find out the m-path from P1 to P10 in the given binary image
Where P1 to P10 indicate the Pixel Number(Location) and 0 and 1 are the intensity
values

Option A: P1 - P3 - P2 - P5 - P7 - P10
Option B: P1 - P3 - P4 - P5 - P7 - P10
Option C: P1 - P3 - P4 - P2 - P5 - P7 - P10
Option D: P1 - P3 - P2 - P4 - P5 - P7 - P10

5. Which operation of a signal can be obtained by folding the signal about n=0
Option A: Amplitude scaling
Option B: Time Reversal
Option C: Time Scaling
Option D: Time advancing

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 6. δ(n) =
Option A: u(n) + u(n-1)
Option B: u(n) u(n-1)
Option C: u(n)-u(n-1)
Option D: u(n-1) - u(n)

7. Image can be blurred using

Option A: Low Pass Averaging filter
Option B: High pass filter
Option C: Median Filter
Option D: High Boost filter

8. What is the Nyquist rate of the following signal x(t) = 3cos(50πt)+10sin(300πt)-

cos(100πt)?
Option A: 50 Hz
Option B: 100 Hz
Option C: 200 Hz
Option D: 300 Hz

9. The multiplication of two DFTs is same as

Option A: Linear convolution of the sequences
Option B: Correlation of sequences
Option C: Cross-correlation of the sequences
Option D: Circular convolution of sequences

10. In an N-point sequence if N=16 ,the total number of complex additions and
multiplications using Radix-2 FFT are,
Option A: 64 and 80
Option B: 80 and 64
Option C: 64 and 32
Option D: 24 and 12

Q2 Solve any Two Questions out of Three 10 marks each

What are the different connectivities and distance measures with respect to digital Images?
A Explain in detail. Also explain their use in Image processing
Find whether the signal is a power signal or an energy signal. Also find the energy and power of the
signal

Explain DFT properties

C

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Q3 Solve any Two Questions out of Three 10 marks each

What is a histogram? What information does a histogram give? Can two or more images have the
same histogram? Following is the pixel distribution of an 8 bpp image. Perform Histogram
Equalization and give the new distribution after histogram equalization.

A Gray
Level 0 1 2 3 4 5 6 7
Number
of Pixels 100 50 250 75 150 125 50 200

B Explain in detail Image segmentation based on discontinuities

Find the linear convolution of the signals using Formula Method

Q4 Solve any Two Questions out of Three 10 marks each

A What are zero memory operations? Why are they called so? Explain with examples Dynamic
range Compression and Bit plane slicing.

B Find the 4-point DFT of x(n) = {1, –2, 3, 2}.Draw magnitude and Phase spectrum.
Given a sequence x(n) = {1, 2, 3, 4, 4, 3, 2, 1}, determine X(k) using DIT FFT algorithm.
C

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 University of Mumbai
Examination Second Half 2021 under cluster ALL (Lead College: ALL )
Program: Computer Engineering
Curriculum Scheme: Rev2016
Examination: BE Semester VII
Course Code: CSC702 and Course Name: Mobile Communication and Computing
Time: 2 hour 30 minutes Max. Marks: 80
=====================================================================

Choose the correct option for following questions. All the Questions are
Q1.
compulsory and carry equal marks
1. LTE Mac layer responsible for
Option A: re-segmentation of RLC data PDUs
Option B: Mapping between logical channels and transport channels, Multiplexing of MAC
SDUs
Option C: Carries all information from the MAC transport channels over the air interface
Option D: Re-segmentation and carries all information

2. In Bluetooth - Authentication, paring and encryption performed by

Option A: Radio layer
Option B: Baseband layer
Option C: Link Manager Protocol
Option D: Service discovery protocol

3. Which is similar to RNS component of UMTS in GSM system architecture?

Option A: BTS
Option B: MSC
Option C: BSC
Option D: OMC

4. In ___________procedure, the mobile node periodically sends specific signals to

inform the network of its current location so that the location database is kept
updated.
Option A: location registration
Option B: call delivery
Option C: paging
Option D: location discovery

5. Cellular IP implements ____________Handover

Option A: Mobile controlled handover
Option B: Intra BTS handover
Option C: Intra Cell handover
Option D: Inter BTS handover

6. In HIPERLAN-2, Each access point contains ____________ and _____________

Option A: Access point controller, Access point Transceiver
Option B: Access point radio , Access point sector
Option C: Access point EC , Access point CL
Option D: Access point CM , Access point DM

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 7. The IEEE 802.11 standard for wireless LANs defines two services: ______ and
_______.
Option A: BSS; ASS
Option B: ESS; SSS
Option C: BSS; ESS
Option D: BSS; DCF

8. In the IPv6 header, the traffic class field is similar to which field in the IPv4
header?
Option A: Fragmentation field
Option B: Fast-switching
Option C: ToS field
Option D: Option field

9. In slow hopping .....................are transmitted using same..........................

Option A: bits,frequency
Option B: frequency,bit
Option C: frequency,power
Option D: bits,power

10. Each ____ is a base station that controls the mobiles in one or more cells.
Option A: eND
Option B: eNB
Option C: eMB
Option D: eNS

Q2. Solve any Four out of Six 5 marks each

(20 Marks)
A Discuss different multiplexing techniques.
What are the different types of Handovers supported by GSM? Explain
B
in short.
What is Snooping TCP? List advantages and disadvantages of
C
Snooping TCP.
Discuss the different interframe spacing between transmission of frame
D
in IEEE 802.11.
What are the problems with standard mobile IP protocol? Explain how
E
MIPv6 overcome these problems.
Draw a high-level architecture of LTE. Explain in short, the functions
F
of EPC component

Q3. Solve any Two Questions out of Three 10 marks each

(20 Marks)
Draw a system architecture of GPRS. What is the role of SGSN, GR
A
and GGSN Components?
B Discuss the PHY frame format of IEEE 802.11 using FHSS technique.
What do you mean by Self Organizing Networks? Explain SOIN
C
Architecture.

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 Q4.
(20 Marks )
A Solve any Two Questions out of Three 5 marks each
i. Explain Piconet and scatternet with respect to Bluetooth protocol.
ii. Discuss how tunneling work for mobile IP using IP in IP
Encapsulation.
iii. What is the need of VoLTE? Explain VoLTE.
B Solve any One Question out of Two. 10 marks each
i. Differentiate between DSSS and FHSS
ii. Discuss the functions of authentication and encryption in GSM? How
is system security maintained?

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 University of Mumbai
Examination Second Half 2021 under cluster all (Lead College: all)
Examinations Commencing from 22nd November 2021 to 5th January 2022
Program: Computer Engineering
Curriculum Scheme: Rev 2016
Examination: BE Semester VII
Course Code: CSC 703 and Course Name: Artificial Intelligence and Soft Computing
Time: 2 hours 30 minutes Max. Marks: 80
=====================================================================
Choose the correct option for following questions. All the Questions are
Q1.
compulsory and carry equal marks
1. You are designing a Route recommendation system which solves for the 'best' route to
reach a destination. Which of the following agent architecture will be suitable for this?
Option A: Model Based Agent
Option B: Goal Based Agent
Option C: Simple reflex Agent
Option D: Utility Based Agent

2. The process that makes different logical expression looks identical is called.....
Option A: Lifting
Option B: Unification
Option C: Inference process
Option D: Branching process

3. FOPL expression for " Some that glitters is gold " is_____
Option A: ∃x glitters(x) ∧ is_gold(x)
Option B: ∀x glitters(x) ∧ is_gold(x)
Option C: ∃x glitters(x) V is_gold(x)
Option D: ∀x glitters(x) -> is_gold(x)

4. The core of a fuzzy set A is a crisp subset of X consisting of all elements with
membership grades equal to ...........
Option A: Zero
Option B: Two
Option C: Three
Option D: One

5. For a perfect binary tree if BFS visits the nodes in following order: A, B, C, D, E, F, G
then what will be order for DFS ?
Option A: A, B, C, D, E, F, G
Option B: A, B, D, C, F, G, E
Option C: A, B, D, E, C, F, G
Option D: A, B, D, E, G, C, F

6. Which of the following search belongs to totally ordered plan search?

Option A: Forward state-space search
Option B: Hill-climbing search
Option C: Depth-first search
Option D: Breadth-first search

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 7. Select the Agents whose Environments are Fully Observable
Option A: Automated taxi Driver
Option B: Crossword
Option C: Medical Diagnosis System
Option D: Finding fault in Assembly line

8. Implement a MP neuron with threshold activation function to simulate working of logical

OR gate. Give the correct values of weights and threshold.
Option A: w1 = 1, w2 =1, T=1
Option B: w1= -1, w2 = 1, T = -2
Option C: w1 = -1, w2 = -1, T = -3
Option D: w1 = 1, w2 = -1, T = -1

9. A 4-input neuron has weights 1, 2, 3 and 4. The transfer function is linear with the
constant of proportionality being equal to 2. The inputs are 4, 10, 5 and 20 respectively.
What will be the output?
Option A: 238
Option B: 119
Option C: 110
Option D: 1

10. In Hill Climbing approach, when the heuristic value of current state and all its successors
is same then it is ------------- problem.
Option A: Local Maxima
Option B: Plateau
Option C: Ridge
Option D: Local Minima

Q2
(20 Marks)
A Solve any Two 5 marks each
i. Give the formulation of a “N-Queens problem” as a problem-solving
agent in terms of its states, initial state, successor function, goal test
and path cost. Illustrate with an example where N=4.

ii. Write a PEAS description for an agent which serves as a “House

cleaning Robot”. Characterize the Agent’s environment.

iii.
Let X = {a, b, c}
Y = {1, 2, 3}
and A = {(a, 0.1), (b, 0.6), (c, 0.1)}
B = {(1, 0.3), (2, 0.2), (3, 1.0)}
Determine the implication relation: If x is A then y is B

B Solve any One 10 marks each

i. Consider the following statements:
(i) All people who are playing cricket are happy.
(ii) All happy people smile.
(iii) Someone is playing cricket.
Prove the sentence “Is someone smiling?” using resolution by
2|Page
 refutation.
ii. Draw and explain the architecture of ANFIS

Q3
(20 Marks)
A Solve any Two 5 marks each
i. Define partial order planning. Explain by taking suitable example
ii. Draw the architecture of an expert system. Describe the working of
each of the blocks in the architecture.
iii. Evaluate the value of the neural network with a 3-3-1 architecture (2-
dimensional input with 1 node for the bias term in both the layers). The
parameters are as follows
1 0.2 0.4
α= [ ]
−1 0.8 0.5
β = [ 0.8 0.4 0.5]
Using Sigmoid function as an activation function at both the layers,
calculate the output of the network for an input of (0.8, 0.7).
B Solve any One 10 marks each
i. Consider the graph given in Figure 2 below. Assume that the initial
state is S and the goal state is G. Show how A* Search would create a
search tree to find a path from the initial state to the goal state:

At each step of the search algorithm, show which node is being

expanded, and the content of fringe. Also report the eventual solution
found by the algorithm, and the solution cost. Assuming the straight-
line distance as the heuristics function: h(S)=7, h(A)=10, h(B)=9,
h(C)=5 and h(G)=0.

ii. Let U = Flowers = {jasmine, Rose, Lotus, Daffodil, Sunflower,

Hibiscus, Lily} be a universe on which two fuzzy sets, one of Beautiful
flowers and the other one of Fragrant flowers are defined as follows

P = 0.3/jasmine, 0.9/Rose, 1.0/Lotus, 0.7/Daffodil, 0.5/Sunflower,

0.4/Hibiscus, 0.6/Lily
Q =1.0/jasmine, 1.0/Rose, 0.5/Lotus, 0.2/Daffodil, 0.2/Sunflower,
0.1/Hibiscus, 0.4/Lily
Compute the fuzzy sets PUQ, P∩Q, P’, Q’, P-Q, P’∩Q’.

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 Q4.
(20 Marks)
A Solve any Two 5 marks each
i. Convert the following sentence into CNF
If two people are friends then they are not enemies

ii. What are different membership functions of fuzzy logic?

iii. What are the frustrations that occur in Hill Climbing Algorithm?

B Solve any One 10 marks each

i. Define the terms chromosome, fitness function, crossover and mutation
as used in Genetic algorithms

ii. Solve the following classification problem using the Perceptron

learning rule. The input/target for our test problems are

(P1 = [2 2]t, t1 = 0), (P2 = [1 -2]t, t2 = 1), (P3 = [-2, -2]t, t3 = 0), (P4 = [-1,
-1]t, t4 = 1).
Initial weight vector w (0) = [0, 0]t and bias b(0)=0. Assume learning
rate c=1 and unipolar binary activation function. Show only 2 cycles.

4|Page
 University of Mumbai
Examination Second Half 2021 under cluster __ (Lead College: _________)
Examinations Commencing from 22nd November 2021 to 5th January 2022
Program: Computer Engineering (Technology)
Curriculum Scheme: Rev 2016
Examination: BE Semester VII
Course Code: CSDLO7031 and Course Name: Advance System Security & Digital Forensics
Time: 2 hour 30 minutes Max. Marks: 80
=====================================================================

Choose the correct option for following questions. All the Questions are
Q1.
compulsory and carry equal marks
1. What resources certain users can access is called where the type of access control
that is used in Local, dynamic situations where subjects have the ability to specify
Option A: Sensitivity-based access control
Option B: Discretionary access control
Option C: Rule-based access control
Option D: Mandatory access control

2. Useful of Role based access control is as follows

Option A: Access must be determined by the labels on the data.
Option B: There are frequent personnel changes in an organization.
Option C: Rules are needed to determine clearances.
Option D: Security clearances must be used.

3. Information conveyed by convert channels using?

Option A: Changing a system’s stored data characteristics
Option B: Generating noise and traffic with the data
Option C: Performing a covert channel analysis
Option D: Modifying the timing of a system resource in some measurable way

4. What type of User account you create for the user, if you want user enter a
administrator password to perform administrative activities?
Option A: Standard User account
Option B: Power User account
Option C: Authenticated User account
Option D: Administrator User account

5. Which is not a substantial port scan type

Option A: Windows Scanning
Option B: Fin Scanning
Option C: IGMP Scan
Option D: ACK Scanning

6. To prevent dictionary attacks on password hashes which mechanism is used.

Option A: Use Salting the hash

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Option B: Use an encryption algorithm you wrote yourself so no one knows how it
works
Option C: Hashing the password twice
Option D: Encrypting the password using the private key

7. SQL injection vulnerability can be prevented if one of the following things can be
done
Option A: Data Validation
Option B: Secure Cookies
Option C: Encryption
Option D: Comprehensive exception handling

8. Common component used in WPA and WPA2

Option A: CCMPN
Option B: AES
Option C: TKIP
Option D: RC4

9. In many countries which of the following key principle used in evolution of

computer crime laws
Option A: All members of the United Nations have agreed to uniformly define and
prosecute computer crime.
Option B: Existing laws against embezzlement, fraud, and wiretapping cannot be applied to
computer crime.
Option C: The definition of property was extended to include electronic information.
Option D: Unauthorized acquisition of computer-based information without the intent to
resell is not a crime.

10. To transfer encrypted data from victim machine to forensic machine which tool is
used.
Option A: netstat
Option B: cryptcat
Option C: md5sum
Option D: netcat

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Q 2) A Solve any Two 5 marks each
i. Define threat and attack. What is the difference between both? List some
examples of attacks which have arisen in real world cases.
ii. What are different types of attacks on web applications.
iii. What are two common techniques used to protect a password file?
Q 2) B Solve any One 10 marks each
i. Explain Key factors that contribute to security problems in wireless networks.
ii. What do you mean by Cross Site Scripting attack? What is the potential of Cross
Site Script attack on client and server?

Q 3) A Solve any Two 5 marks each

i. What kind of attack would attacker try to eavesdrop on all the wireless network
traffic?
ii. What is the use of SSL protocol? Explain SSL record protocol operation with SSL
record format.
iii. How sniffer is placed & configured for preservation, collection & documentation
of digital evidence at physical layer?
Q 3) B Solve any One 10 marks each
i. Explain ethical and legal issues in software privacy.
ii. What is session hijacking? What are the steps to hijack a session? What are the
dangers posed by hijacking a session?

Q 4) A Solve any Two 5 marks each

i. What is single sign-on? Give guidelines for selecting a password.
ii. What is electronic cash? How does cash based transaction system differ from
credit card-based transactions?
iii. What are the different ways in which computer gets infected with virus? What are
the techniques used for infecting computers with viruses?
Q 4) B Solve any One 10 marks each
i. What is network forensics? If a company wants to tap an employee, is it
permitted? Justify the decision with relevant cyber law?
ii. What is packet sniffing? How is it done? What are the threats due to packet
sniffing?

3|Page
 University of Mumbai
Examination Second Half 2021 under cluster __(Lead College: _________)
Examinations Commencing from 22nd November2021 to5thJanuary 2022
Program: 1T00727 / / B.E.(Computer Engineering)(SEM-VII)(Choice Base
Credit Grading System )(R2016)
Curriculum Scheme: 2016
Examination: BE Semester VII
Course Code: CSDLO 7033 and Course Name: Robotics
Time: 2hour 30 minutes Max. Marks: 80
=====================================================================

Choose the correct option for following questions. All the Questions are
Q1.
compulsory and carry equal marks
1. Robots are multi-DOF machines, where each_____ must be known in order to determine
the location of the robot’s hand
Option A: Joint constant
Option B: Joint variable
Option C: Joint
Option D: Constant

2. Translate along the xn-axis a distance of an+1 to bring the origins of xn and xn+1
together
Option A: xn-axis
Option B: yn-axis
Option C: n-axis
Option D: zn-axis

3. The purpose of Robot Kinematics is to

Option A: study the nature of robotic joints.
Option B: study the relative motion of different links.
Option C: determine the joint torques of a robot.
Option D: find collision-free path for the robot.

4. To represent both the position and orientation of a 3-D object in 3D space,we use a
Option A: 4×4 matrix
Option B: 3× 3matrix
Option C: 5×5 matrix
Option D: 3×4 matrix

5. The differential transformation of a frame is a combination of differential translations

and rotations in ___
Option A: first translation then rotation
Option B: first rotation then translation
Option C: any order
Option D: none

6. The second technique of inverting the Jacobian is to substitute the numbers in the
Jacobian and then invert the numerical matrix through techniques such as _____or other
similar approaches.
Option A: Gaussian elimination
Option B: Euler elimination
Option C: Newtonian- Euler elimination
Option D: Newtonian elimination

1|Page
 7. 4 coefficients for a third-order polynomial, 5 coefficients for a fourth-order polynomial,
and 6 coefficients for a fifth-order polynomial. Both 4-3-4 and 3-5-3 trajectories require
solving for a total of_______.
Option A: 13 coefficients
Option B: 11 coefficients
Option C: 12 coefficients
Option D: 14 coefficients

8. The GVD has the properties of accessibility, _______, and departability.

Option A: Visibility
Option B: Visibility graph
Option C: Potential field approach
Option D: Connectivity

9. The major drawback of ______ method is that the planner has to search the entire space
for a path.
Option A: General Planner
Option B: Brushfire algorithm
Option C: wave-front planner
Option D: Randomized Path Planner

10. Which is not kinematics parameter?

Option A: joint angle
Option B: joint distance
Option C: link distance
Option D: link twisted angle

Q2
A Solve any Two 5 marks each
i. Define Robotics and Explain its classification
ii. Describe Robot Kinematics.
iii. Explain BUG1, BUG2 and Tangent BUG algorithms
B Solve any One 10 marks each
i. Find the effect of differential motion of 0.1 rad about y-axis followed
by a differential translation of [ 0.1, 0, 0.2] on the given frame B.

ii. Explain Inverse Jacobian in detail.

Q3
A Solve any Two 5 marks each
i. Explain with neat sketch Roll-Pitch-Yaw angles in terms of Robotics
ii. A 3x3 binary image is as shown below:
x y
1 0 0
0 1 0
0 0 1
Find the centroid of the image.

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iii. Compare direct and inverse kinematics problem with respect to what
information is available and what is derived in each. Give practical
example of each.
B Solve any One 10 marks each
i. Explain the concept of robot motion planning.
ii. Using D-H representation derive the matrix for Cylindrical
configuration of robot

Q4
A Solve any Two 5 marks each
i. Define Euler number. Find the Euler number of alphabets A, B, C.
ii. Describe the various the components of an Expert system with an
example
iii. Explain motion planning of Robot
B Solve any One 10 marks each
i. Draw any three Robots configurations and sketch the workspace
envelope for each.
ii. Write a short note on:
 Trapezoidal Decomposition with example
 Wave-Front Planner algorithm with example

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