QUESTION $5$

a$.$ List the costs that may be involved due to accidents associated with the unsafe machine operation. b$.$ A manipulator is required to rotate through increments to position parts on a workbench. The manipulator must have a resolution of $1\mathrm{.}41$ and be able to remember its last position even in case of power failure. Select an appropriate sensor $($give details of the proposed sensor$),$ to be placed on

$q,$ the shaft of the joint, that would fulfil the above mentioned requirements.

c$.$ Explain how the Hough Transform is used to locate a circle in a scene?

$q,$ the steps involved in converting the original picture into the result shown in Fig Qu$.5($c$).$

$\backslash$table$[[249,244,240,230,209,233,227,251,255],[248,245,210,93,81,120,97,193,254],[250,170,133,94,137,120,104,145,253],[241,118,118,107,134,138,26,92,163],[247,142,121,113,124,115,107,71,179],[234,106,84,125,97,108,125,106,204],[241,202,102,132,75,73,141,246,252],[253,252,244,239,178,199,242,250,245],[255,249,244,250,226,231,240,251,253]]$

$($c$)$