Progress Report 2

 

F – Emily Laudo, Sarabeth Hewa, Nick Besancon, Bradley Moyer Progress Report 2
Instructor – Richard Busick, GTA – Sheng Zhu 19 – Mar – 2019

Report of Progress

Situation

Team F did Advanced R & D Testing for the Battery of the AEV and it’s Reflectance Sensors. The LI -PO (Lithium Polymer) battery is the power source of the AEV, so it is important to understand its potential to affect AEV performance.

The Battery test gave further insight into relationships between battery voltage and travel distance. In the case that a battery is underperforming, it would be important to replace the battery so that the AEV can run effectively and efficiently. 2 different batteries were run through the same code of “goFor(s)”. Times of 2 seconds, 4 seconds, and 6 seconds were used. A Total Energy VS. Distance Graph was made for each battery, for each run. The graphs were then compared side by side to see which battery performed better, and if they were both within acceptable ranges of each other, the batteries were kept. However, it was noted which battery performed better by seeing which battery travelled farther on the same amount of energy. Graphs for these battery tests can be found in appendices B.1-B.6.

Reflectance Sensor Testing was used to analyze how well the sensors worked, and examine the efficiency of the AEV. These sensors are an extremely important component of the since they allow for a certain distance to be travelled by the AEV. In order to test how well they worked, The AEV was run on the same track with different mark counts inputted into the code “goToAbsolutePosition”. Wheel rotations were converted into mark counts, and mark counts were converted into distances measured by inches. With the calculated distance of how much the mark counts should yield, it was then cross compared to the actual distance travelled by the AEV when the code was run on it. The actual distance travelled was measured by MATLAB, and a graph in B.7. was made to show these distances. Here are the conversions below:

8 marks= 1 rotation

3.9 inches per 8 marks

or

0.4875 inches/ 1 mark

 

50 marks= 24.735 inches

100 marks= 48.75 inches

125 marks=60.9375 inches

150 marks=73.125 inches

 

If the mark count distance calculation was not too far off the actual distance travelled by the AEV, the Reflectance Sensors were deemed functioning and acceptable. The primary purpose of this test was to become comfortable with the sensors and determine if any modification was needed to improve their functioning.

Results and Analysis

The first test the team performed was testing battery 1 for the distance travelled (m) vs. total energy (J) while using the goFor(2) command.  As seen in Appendix A.1, the AEV travelled a total distance of roughly 0.8296 meters once the battery reached its peak energy output. The second test performed was testing battery 2 for the distance travelled (m) vs. total energy (J) while using the goFor(2) command.  As seen in Appendix A.2, the AEV travelled a total distance of roughly 0.7925 meters once the battery reached its peak energy output. From this, the group determined that battery 1 performed better for this test in comparison to battery 2 because it travelled a greater distance.  

The third test the team performed was testing battery 1 for the distance travelled (m) vs. total energy (J) while using the goFor(4) command.  As seen in Appendix A.3, the AEV travelled a total distance of 1.94405 meters once the battery reached its peak energy output. The fourth test the team performed was testing battery 2 for the distance travelled (m) vs. total energy (J) while using the goFor(4) command.  As seen in Appendix A.4, the AEV travelled a total distance of 2.167 meters once the battery reached its peak energy output. From this, the group determined that battery 2 performed better for this test in comparison to battery 1 because it travelled a greater distance.

The fifth test the team performed was testing battery 1 for the distance travelled (m) vs. total energy (J) while using the goFor(6) command.  As seen in Appendix A.5, the AEV travelled a total distance of 3.8881 meters once the battery reached its peak energy output. The sixth test the team performed was testing battery 2 for the distance travelled (m) vs. total energy (J) while using the goFor(6) command.  As seen in Appendix A.6, the AEV travelled a total distance of 4.2596 meters once the battery reached its peak energy output. From this, the group determined that battery 2 performed better for this test in comparison to batter 1 because it travelled a greater distance.

The final test the team performed was testing the reflectance sensors by using the goToAbsolutePosition(n) command for positions of 50, 100, 150, and 200 marks.  As seen in Appendix A.7, distance increases with mark count and as mark count increases, the distance becomes more linear, leading to less error. When graphically analyzed, the 400 mark count was the most linear.

Takeaways

These results apply to the overall project by determining what would be best when setting up for the Performance Tests. For example, when the results came in that battery 2 is better when a further distance needs to be reached, Nick decided that we should use this battery for Performance Test 1 because after the AEV stopped for 7 seconds, it still needed the power to go past the second sensor. For the reflectance sensor test, the 400 mark count provided the most linear distance, so there was less error. This affects the team’s upcoming work by determining around what mark count should be used when running our tests. In Performance Test 1, the team used a mark count of 280 to reach the first sensor. The use of a servo sensor along with a lower mark count, such as 280, created little to no drift. This made the AEV successfully pass the test. In conclusion, these results helped the team determine that battery 2 is more efficient and a larger mark count provides less error.

 

Future Work

Situation

Upcoming tasks the group will need to complete will be performance tests 1 and 2.  Performance test 1 guidelines state that the AEV must travel to the stop sign station, stop at the stop sign station for 7 seconds, then travel through the now raised stop sign.  The group will be adding a servo motor onto the arm of the AEV so the servo can serve as a reliable braking mechanism by using its arm to stop the wheel, which will make this task easier.  The team will then do conversions to determine the amount of marks needed for the AEV to stop at the appropriate place, and change as needed depending on AEV performance. Performance test 2 guidelines state that the AEV must do the same process as performance test 1, but must pick up a load at the end of the track, stop for 7 seconds, proceed back to the stop sign gate, wait for 7 seconds, proceed through the gate, then drop off the load.  The team will go through the same process as performance test 1, by using conversion to determine the amount of marks needed for the AEV to stop at the appropriate place, and change as needed depending on AEV performance.

Upcoming Goals

The Team will be further looking into any possible different codes or materials that can be used to improve the efficiency of the AEV. For example, the team is currently looking into, and implementing the rotate servo tool. This tool will allow the team to instantaneously stop the motion of the AEV, ensuring that the AEV will stop when told. This also improves the efficiency of the AEV, as using the rotate servo command will prevent coasting and further energy usage after the AEV has run its course. This modification on the AEV was used in Performance Test 1.

The Team is also looking forward to Performance Test 2. From Performance Test 1, the team has gained insight into the functionality of the AEV. The Rotate Servo will still be implemented for the upcoming performance test, and marks will be converted into actual distance needed to travel. The team will devise a plan that efficiently can pick up an object at the end of the track, and bring it back safely. Acceleration Power of the motors will be further looked into, as to allow for a safe and low impact pick-up of the object.

 

Upcoming Schedule

Task                                               Teammates                  Date                            Time Needed

Group Meeting:                        Everyone                         3/21/19                         2 Hours

Performance Test 2:               Everyone                         3/25/19                        1 Hour

Meeting Notes:                          Emily                                3/27/19                       30 Minutes

CDR Draft:                                 Everyone                         3/27/19                         1 Hour

Committee Meeting 2:            Everyone                         3/28/19                       30 Minutes

Schedule Update:                     Nick                                   3/31/19                        30 Minutes

 

Appendices

Appendix A: Graphs

 

A.1: Testing ‘goFor(2)’ for the First Battery

A.2: Testing ‘goFor(2)’ for the Second Battery

A.3: Testing ‘goFor(4)’ for the First Battery

A.4: Testing ‘goFor(4)’ for the Second Battery

A.5: Testing ‘goFor(6)’ for the First Battery

A.6: Testing ‘goFor(6)’ for the Second Battery

A.7: Reflectance Sensor Tests Showing Distances Traveled at Four Different Mark Counts

 

Appendix B: Codes

 

B.1: Testing “goFor(2)” for First Battery

motorSpeed(4,20);

goFor(2);

brake(4);

 

B.2: Testing “goFor(4)” for First Battery

motorSpeed(4,20);

goFor(4);

brake(4);

 

B.3: Testing “goFor(6)” for First Battery

motorSpeed(4,20);

goFor(6);

brake(4);

 

B.4: Testing “goFor(2)” for Second Battery

motorSpeed(4,20);

goFor(2);

brake(4);

 

B.5: Testing “goFor(4)” for Second Battery

motorSpeed(4,20);

goFor(4);

brake(4);

 

B.6: Testing “goFor(6)” for Second Battery

motorSpeed(4,20);

goFor(6);

brake(4);

 

B.7: Testing 50 marks using “goToAbsolutePosition(50)” for reflectance sensors

motorSpeed(4,20);

goToAbsolutePosition(50);

brake(4);

 

B.8: Testing 100 marks using “goToAbsolutePosition(100)” for reflectance sensors

motorSpeed(4,20);

goToAbsolutePosition(100);

brake(4);

 

B.9: Testing 150 marks using “goToAbsolutePosition(150)” for reflectance sensors

motorSpeed(4,20);

goToAbsolutePosition(150);

brake(4);

 

B.10: Testing 200 marks using “goToAbsolutePosition(200)” for reflectance sensors

motorSpeed(4,20);

goToAbsolutePosition(200);

brake(4);

 

Appendix C: Team Meetings

 

C.1: Meeting 1

Date: 14 – Feb – 2019

Time: 3:55 PM (Face-to-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 224

Topics Discussed: Presentation of Grant Proposal and Progress Report Submission

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to present to the class the part for our Grant Proposal.

_______________________________________________________

To Do/Action Items:

  • Present Grant Proposal (BM & EL)
  • Finish and submit Progress Report 1 (SH, BM, NB, EL)

_______________________________________________________

Decisions:

  • Divide up Progress Report work (BM)
  • Emily speaks first when presenting (SH, BM, EL)
  • Bradley spends time presenting the entirety of the reason for the part (SH, BM, EL)

_______________________________________________________

Reflections:

  • When finishing our Progress Report we divided the work and did our tasks individually to save time.

_______________________________________________________

Upcoming Tasks:

  • Prepare for Committee Meeting 1 (SH, BM, NB, EL)
  • Divide up who is in what committee (SH, BM, NB, EL)
  • Begin formatting Progress Report 2 (SH, BM, NB, EL)

 

 

C.2: Meeting 2

Date: 21 – Feb – 2019

Time: 3:55 PM (Face-To-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 224

Topics Discussed: Committee Meetings and Advanced R&D

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to break into our committees and beginning the Advanced R&D lab.

_______________________________________________________

To Do/Action Items:

  • Break out into committees (SH, BM, NB, EL)
  • Prepare to test different batteries for AEV (SH, BM, NB, EL)
  • Compare different methods to improve reflectance sensor tests (SH, BM, NB, EL)

_______________________________________________________

Decisions:

  • Get a multimeter to test voltage of different batteries (SH, BM, NB, EL)
  • Get new battery if the current one is faulty (SH, BM, NB, EL)

_______________________________________________________

Reflections:

  • We believe the committee meeting went well and we think that brainstorming ideas for the battery and reflectance test will help us get ideas in one place.

_______________________________________________________

Upcoming Tasks:

  • Continue working on the Advanced R&D  (SH, BM, NB, EL)
  • Begin Progress Report 2 (EL)

 

 

C.3: Meeting 3

Date: 28 – Feb – 2019

Time: 3:55 PM (Face-to-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 224

Topics Discussed: Work on aR&D

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to work on our team’s assigned tasks for the Advanced R&D lab.

_______________________________________________________

To Do/Action Items:

  • Test reflectance sensors to find ways to improve them (SH, BM, NB, EL)
  • Brainstorm test ideas in order to see how to improve the battery’s functions (SH, BM, NB, EL)

_______________________________________________________

Decisions:

  • Decided to test how two different batteries affect the distance of the AEV and find the voltage of each battery (SH, BM, NB, EL)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         

_______________________________________________________

Reflections:

  • We realized that we have a lot to do next week, therefore we must prioritize our assignments in order to ensure that they are completed on time.                                      

_______________________________________________________

Upcoming Tasks:

  • Finish aR&D methodologies for aR&D 1 and 2 (SH, BM, NB, EL)
  • Work on Progress Report 2 (SH, BM, NB, EL)

 

 

C.4: Meeting 4

Date: 4 – Mar – 2019

Time: 3:00 PM (Face-to-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 308

Topics Discussed: Finish the Reflectance Sensor tests for aR&D

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to work on our team’s assigned tasks for the Advanced R&D lab.

_______________________________________________________

To Do/Action Items:

  • Finish data collection for the battery and reflectance sensor tests (SH, BM, NB, EL)
  • Work on Website Update 3 (EL)

_______________________________________________________

Decisions:

  • Decided to test how two different batteries affect the distance of the AEV and find the voltage of each battery (SH, BM, NB, EL)
  • Make a tutorial so we don’t forget where the code is (SH)
  • Test reflectance sensors on different tracks multiple times and set the AEV cover to the same mark count (SH, BM, NB, EL)

_______________________________________________________

Reflections:

  • We realized that we were slightly behind on the data collection for both aR&D tests, therefore, we may need to finish in office hours.

_______________________________________________________

Upcoming Tasks:

  • Work on Progress Report 2 (SH, BM, NB, EL)
  • Format all graphs for both tests (EL)
  • Work Progress Report 2 and dividing up tasks (EL)

 

 

C.5: Meeting 5

Date: 6 – Mar – 2019

Time: 3:00 PM (Face-to-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 308

Topics Discussed: Finalize the Reflectance Sensor tests for aR&D

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to finalize the last few data collection tests for the reflectance sensors.

_______________________________________________________

To Do/Action Items:

  • Finalize all data collection for aR&D (SH, BM, NB, EL)

_______________________________________________________

Decisions:

  • Choose different numbers for mark counts and convert wheel rotations to mark counts and then mark counts to distances (SB)
  • Determine how much distance differs between two counts and find the percent error (NB & BM)

_______________________________________________________

Reflections:

  • We will need to get some work done over spring break, in order to not fall behind on major assignments.

_______________________________________________________

Upcoming Tasks:

  • Work on Progress Report 2 (SH, BM, NB, EL)
  • Format all graphs for both tests (EL)
  • Work on Website Update 3 and dividing up tasks (EL)

 

 

C.6: Meeting 6

Date: 7 – Mar – 2019

Time: 3:55 PM (Face-to-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 224

Topics Discussed: Data Collection Formatting and Preparation for Performance Test 1

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to format the graphs of the data collected for the aR&D tests and build our AEV.

_______________________________________________________

To Do/Action Items:

  • Build our AEV design (BM & NB)
  • Format all graphs for both tests (EL & SB)

_______________________________________________________

Decisions:

  • Decide what parts to use based on the tests run for battery and sensors (SH, BM, NB, EL)
  • Find out the cost of the AEV (SH, BM, NB, EL)
  • Rebuild the AEV design to make the caboose fit (NB & BM)

_______________________________________________________

Reflections:

  • We realized that the aR&D design we are building may have to be redesigned entirely in order to balance out the mass, so the AEV performs well for the first Performance Test.

_______________________________________________________

Upcoming Tasks:

  • Work on Progress Report 2 (SH, BM, NB, EL)
  • Work on Website Update 3 and dividing up tasks (EL)
  • Prepare for R&D Oral Presentation (SH, BM, NB, EL)
  • Prepare for Performance Test 1 (SH, BM, NB, EL)

 

 

C.7: Meeting 7

Date: 18 – Mar – 2019

Time: 3:00 PM (Face-to-Face)

Members Present: Emily Laudo, Sarabeth Hewa, Bradley Moyer, Nick Besancon

Location: Hitchcock 308

Topics Discussed: Preparing for Performance Test 1

****Decisions made are initialed in parenthesis

(i.e. Bradley made decision: (BM)****

_______________________________________________________

Objective: Today’s main focus was on meeting as a team to prepare for Performance Test 1 and make sure our final code works to complete the tasks.

_______________________________________________________

To Do/Action Items:

  • Practice and potentially do Performance Test 1  (SH, BM, NB, EL)
  • Separate Tasks for Progress Report 2 (EL)

_______________________________________________________

Decisions:

  • Use a Servo Sensor to stop drifting (SH, BM, NB, EL)
  • Add acceleration at the end of the code (NB)
  • Do Performance Test 1 (SH, BM, NB, EL)

_______________________________________________________

Reflections:

  • We believe that the Servo Sensor is a crucial part to supporting our AEV and stopping it from coasting, therefore, we believe that we are well prepared for Performance Test 1.

_______________________________________________________

Upcoming Tasks:

  • Prepare for R&D Oral Presentation (SH, BM, NB, EL)
  • Finish work on Progress Report 2 (SH, BM, NB, EL)