Backwards Looking Summary
Since the last progress report the group has been spending three classes a week strictly working on the AEV Project. This class time has gone into completing Performance Test 1, completing Performance Test 2 and getting started on the Final Performance Test. The two performance tests act as checkpoints of the final performance test. While completing the tests, groups are able to see what changes need to be made to their vehicle and code. And by completing the tests groups are reassured that they are moving along in the right direction.
The first performance test consisted of the first leg of the final test. The test consisted of having the AEV come to a stop in between the gate sensors and then wait seven seconds, opening the gate. The last part of the test was to then proceed through the gate. While trying to complete this task the group decided that they would find a motor speed and a time for the motors to run that would propel the AEV and then have the vehicle coast to a stop in between the sensors. This approach would be more energy efficient than using power braking. While completing test runs the group immediately noticed that there was significant inconsistencies when the the same code was used.
(graph of performance test 1 will be ready for CDR, had trouble with the AEV Analysis tool, but Amena helped us figure it out, the same goes for the graph of performance test 2)
The second performance test added onto the first performance test. In addition to making it through the gate, the group would also have to retrieve the caboose at the loading dock, wait five seconds, and then take off back towards the starting dock without disconnecting from the caboose. The team noticed that if the motors ran long enough to get to the decline of the second part of the track that the decline would allow the AEV to coast and smoothly connect with the caboose. Something that the team had to be careful of was not to take back off too fast. If the vehicle started back up abruptly the caboose would disconnect. A gradual takeoff was crucial to passing this performance test.
(graph for performance test 2)
After testing for 2 weeks one of the major points drawn from the tests is how crucial it is to have consistent tests. While preparing for the final performance test the group discovered that there was a small amount of friction being caused by the reflective sensors and the arm of the AEV. The group believes that the inconsistencies had mostly to do with this friction. With the help of Dr. Phil the group was able to take care of this. However, with this friction gone, the AEV ran differently. The vehicle was able to coast for a much longer time and in return went a much further distance. This is going to affect the code for the final performance test. With the AEV now being able to coast for such a long time the group concluded that power breaking is going to be essential in making the AEV stop between the sensors.
Forward Looking Plan
The next task to the group needs to complete is the final performance test. This performance test is the culmination of everything the group has been working toward with the AEV. The AEV needs to be optimized in every way possible, including its weight, energy efficiency, code, consistency, and safety. To do this the group will spend the next week constantly testing the AEV to achieve all the goals stated above. The biggest goal for the group, however, is to achieve consistency. In the first two performance tests, it was obvious, based on all the tests that were run, that the AEV could not consistently perform the same task using the same code in bac-to-back tests. To achieve this, the group plans to use power braking to stop instantly, and give up a little efficiency in order to achieve a much greater consistency. The group determined that coasting to a stop was a major factor in the inconsistency, so power braking would help. The group also plans to use absolute positioning in the AEV code instead of time-based code in order to achieve another degree to consistency. Since the AEV did not go consistent distances, the timing of the code was sometimes off, so by using absolute positioning, the group believes that this inconsistency will be eliminated.
After the final performance test is completed, the group will complete the final oral presentation. The group will meet to complete this and all team members will work equally to complete the presentation. The goal is to have the the presentation completed within a four hour session. After the final presentation is complete, the group will meet to complete the CDR and finalize the website. David, Cole, and Vincent will work mostly on finishing the CDR, while Garrett finalizes the website. The goal is to complete these two tasks in a single three hour group meeting.
Appendix
Team Meeting Minutes
Date: 3/19/18
Time: 8 am
Location: Hitchcock 224
Attendance: All group members
Topics of Discussion: Completed Performance Test 1 and began working on Performance Test 2
To do: Complete Performance Test 2
Date: 3/20/18
Time: 9:35 am
Location: Hitchcock 224
Attendance: All members present
Topics of Discussion: Continued to work on Performance Test 2. Talked about changing the code and other adjustments that need to be made to succeed.
To do: Complete Performance Test 2
Date: 3/22/18
Time: 8 am
Location: Hitchcock 224
Attendance: All members present
Topics of Discussion: Continued to work on Performance Test 2. Also planned how we are going to complete the CDR.
To do: Complete Performance Test 2 and complete the CDR Draft
Date: 3/23/18
Time: 8 pm
Location: Hitchcock 224
Attendance: All members present (virtual)
Topics of Discussion: Complete the CDR draft
To do: Complete Performance Test 2
Date: 3/26/18
Time: 8 am
Location: Hitchcock 224
Attendance: All members present
Topics of Discussion: Worked on Performance Test 2. Have noticed that there is a lot of inconsistency with the battery. Talked about how to approach and negate that
To do: Complete Performance Test 2
Date: 3/27/18
Time: 9:35 am
Location: Hitchcock 224
Attendance: All members present
Topics of Discussion: Completed Performance Test 2 and began working on Performance Test 3. Talked about what we need to do for Committee Meeting 2.
To do: Prepare for Committee Meeting 3, complete Performance Test 3
Date: 3/28/18
Time: 9 pm
Location: Hitchcock 324
Attendance: David and Garrett
Topics of Discussion: Updated website and cleaned up some other things. Assembled the second AEV design so we can test that one.
To do: Complete Performance Test 3 and test the other AEV design.
Date: 3/29/18
Time: 8 am
Location: Hitchcock 224
Attendance: Garrett Cole Vincent
Topics of Discussion: Talked in our respective committee meetings followed by working with and testing our new AEV design. The new design was not as easy to work with we will have to see if we will continue testing.
To do: Keep working on our code to complete the performance test and make a decision on whether the new design is better or need to resort to our old design.
Date: 4/02/18
Time: 8am
Location: Hitchcock 224
Attendance: David and Vincent and Cole
Topics of Discussion: We worked to find a more efficient way to propel the newly designed AEV down the track and back. After looking to see how we could make it better we found the consistency was lack dramatically.
To do: Fix code to improve consistency through adding power braking. We need to find a good design and working code by next Tuesday so we are Prepared for the final performance test.
Date: 4/03/18
Time: 11 am
Location: Hitchcock 224
Attendance: All
Topics of Discussion: Discussed briefly what we were going to do about our design.
To do: Figure out after Thursday if we are changing to the older more consistent design or sticking without current one.
Date: 4/05/18
Time: 8am
Location: Hitchcock 224
Attendance: Garrett David Vincent
Topics of Discussion: Running tests to adapt the code to flawlessly pass the performance tests, also discussed what we were going to do if we couldn’t get the current code and AEV design to work.
To do: Reassemble AEV into older design and keep adding to the progress report.
Date: 4/06/18
Time: 1 pm
Location: Seibert Hall
Attendance: Vincent and Garrett
Topics of Discussion: Talked about what else still needed to be added to the progress report and discussed what we should do about our problems with recording the data from our AEV.
To do: Finish Progress report and make sure the new design is completely assembled.
Code Used:
First Performance Test-
motorSpeed(4,35)
goToRelativePosition(208) ← This is the only use of the gTRP command, for the reason that the coasting we used was easier to keep consistent when using a distance formula instead of a time function
brake(4)
motorSpeed(4,0)
goFor(11) ← This part is set as a timer for the gating system. The AEV coasts for 3 seconds and waits for 7, with one second for added for security
motorSpeed(4,35)
goFor(3)
Second Performance Test-
motorSpeed(4,35)
goToRelativePosition(208)
brake(4)
motorSpeed(4,0)
goFor(11)
motorSpeed(4,35)
goFor(3)
motorSpeed(4,0)
goFor(8) ← Similar to the previous stop, this is a timer that allows the AEV to coast for 2 seconds and stop for 5 at the end of the track with one second of delay for security.
reverse(4)
motorSpeed(4,50) ← The speed change is so drastic due to the increased weight of the caboose. Testing has shown that the speed threshold before which the caboose detaches from the AEV sits above 55%
goFor(2.3)