A 4-line-to-16-line decoder can be used for binary-to-hexadecimal decoding. When a binary 1010 is on the inputs, which output line is activated? (Hint: keep in the mind that the output is in hexadecimal!)

Let r be a robotic arm with a fixed base and seven links. the last joint of r is a prismatic joint, the other ones are revolute joints. give a set of parameters that determines a placement of r. what is the dimension of the configuration space resulting from your choice of parameters?