Progress Report 3
Performance Test 1: Backwards Looking Summary
Situation
Going forward, every class is being turned into days where the group can test the AEV and accomplish small objectives. For performance test 1, the team had 3 class days to design two different AEV’s and check which would minimize the energy used. The other goal of the performance test was to develop a code that allowed the AEV to travel from the starting dock to the gate, pause for 7 seconds and proceed through the gate. The team used coasting and power breaking to see which one used the most energy. A skeleton code was created where the values for distance were changed.
Results and Analysis
The main result of performance test one was that our aev was successfully able to activate the gate and proceed with using minimal energy and time. As shown in the code in the appendix, Our code started and ran to an absolute position which then stopped the motors to coast for 2 seconds and then the motors were reversed for the power braking to stop the aev at the gate. Then the aev moved forward after 7 seconds to complete the test. Power breaking was used during this test to provide an accurate stop as compared to coasting. During the initial trials coasting was used and the aev often had very inaccurate results. Adding power breaking gave the aev a much more precise stop. Using power braking requires more energy but helps the overall run with the accuracy.
Takeaways
During performance test 1, the team analyzed why the AEV did not always stop in between the sensors. After analysis, it was decided that it was because of the coast braking, so the team decided to use coast braking to slow down the AEV and power braking to make it stop in between the sensors. The team also decided to use marks instead of seconds since that is more accurate. During this performance test, the team also had a problem because the wire of the motor came off.
Performance Test 2: Backwards Looking Summary
Situation
This week’s performance test was based on the code for performance test 1. The objective of this week was for the AEV to attach to the payload, which was across the gate, and back across the track to the gate. Another objective was that while on the way back, the payload could detach from the AEV. A issue that we ran into was to get the AEV to go at enough speed to attach to the payload, but simultaneously not let the AEV crash so both the AEV and payload fall off the track.
Results and Analysis
The results of performance test as shown in graph 1 should that our aev was very energy efficient through the run. The aev was very accurate with each stop and was able to pick up the load with a very gentle connection to not lose any points for the safety section of the project. The results of this lab also should as that the energy required to bring the aev back required much more power and the code has to be adjusted according which can be seen in the performance test two code. The track setup also allowed us to coast more down to the load because of the slope and then just use more power to stop the aev. The results provided us with the information needed for the final performance test which was just to improve the accuracy of the aev and load when stopping at the gate and maintaining efficiency.
Takeaways
In performance test 2, the motor wires kept coming off, so a lot of the time was spent into fixing that. Another problem was that when the AEV attached to the payload, it was running at a very high speed which made it crash. So, here there were a lot of trial and error runs that happened. In the end, the team decided to use another mix of power braking and coasting to get the AEV to the correct spot and speed to attach it to the payload.
Forward Looking Summary
Situation
The next task for Group H will be determining the distance for the AEV to travel in order for it to end at the beginning. The team has succeeded in multiple runs of the AEV traveling through the gate, attaching to the payload, and then returning back through the gate. But the correct distance for the ending of the AEV has not been determined. This goal will be accomplished through trial and error because the numbers of distances always have to be adjusted at the beginning of lab due to different batteries.
Goals
After this goal has been accomplished, the team will use their slight remaining time to evaluate the code and try and determine ways to decrease the energy used to save money without compromising the accuracy that the AEV has in stopping at points. The group is going to be evaluating the cost spreadsheet and trying to find ways to save the most money that don’t affect the productivity of the AEV.
Schedule
| Task | Members | Start Date | Due Date |
| Progress Report 3 | ALL | 04/01/18 | April 6 |
| Final Oral Presentation Draft | ALL | 04/05/18 | April 9 |
| Final Performance Test | ALL | 04/12/18 | April 12 |
| Final Oral Presentation | ALL | 04/16/18 | April 16 |
| Final Website | ALL | 04/19/18 | April 19 |
Appendix
Team Meeting Notes #5
Group: G
Location: 18 Avenue Library
Time: 5:30, Feb 26, 2018
Attendees: Snigdha Tiwari, Jack Werren, Nan Zhang, Eli Baker
Topic:
Website Upload 3
R&D Presentation
Upcoming tasks:
Progress Report
Lab 8 Presentations(in-class)
To-Do:
- Put up Summary for Labs
- Do AR&D research
- Finish R&D Presentation
- Finish Website Update
- Upload nose cone file for 3D printing
Team Meeting Notes #6
Group: G
Location: 18 Avenue Library
Time: 6:30, March 28, 2018
Attendees: Snigdha Tiwari, Jack Werren, Eli Baker
- Nan informed us that she had a midterm during that time
Topic:
Committee Meeting 2
Website Deliverables
Advanced Research Development
Upcoming tasks:
Performance Test 3 and 4
Progress Report 3
Final Presentation Draft
Final Testing
To-Do:
- update website with performance tests
- Upload nose cone file for 3D printing
- performance test 3 and 4
Code for Performance Test 1
void myCode()
{
//—————————————————————————————-
// myCode();
//
// This is the tab where the programming of your vehicle operation is done.
// Tab _00_AEV_key_words contains a compiled list of functions/subroutines used for vehicle
// operation.
//
// Note:
// (1) After running your AEV do not turn the AEV off, connect the AEV to a computer, or
// push the reset button on the Arduino. There is a 13 second processing period. In
// post processing, data is stored and battery recuperation takes place.
// (2) Time, current, voltage, total marks, position traveled are recorded approximately
// every 60 milliseconds. This may vary depending on the vehicles operational tasks.
// It takes approximately 35-40 milliseconds for each recording. Thus when programming,
// code complexity may not be beneficial.
// (3) Always comment your code. Debugging will be quicker and easier to do and will
// especially aid the instructional team in helping you.
//—————————————————————————————-
// Program between here——————————————————————-
// Performance Test 1
// Start
// Speed up and run relatively distance of -133 at speed of 40
reverse(4);
motorSpeed(4,40);
goToRelativePosition(-133);
// Slow down
motorSpeed(4,0);
goFor(2);
// Keep slowing down and stop
reverse(4);
motorSpeed(4,32);
goFor(1);
// Stop and wait 7 seconds
motorSpeed(4,0);
goFor(7);
// Running relatively distance of -40 at speed of 40
reverse(4);
motorSpeed(4,40);
goToRelativePosition(-40);
// Brake motors.
brake(4);
// And here——————————————————————————–
} // DO NOT REMOVE. end of void myCode()
Code for Performance Test 2
void myCode()
{
//—————————————————————————————-
// myCode();
//
// This is the tab where the programming of your vehicle operation is done.
// Tab _00_AEV_key_words contains a compiled list of functions/subroutines used for vehicle
// operation.
//
// Note:
// (1) After running your AEV do not turn the AEV off, connect the AEV to a computer, or
// push the reset button on the Arduino. There is a 13 second processing period. In
// post processing, data is stored and battery recuperation takes place.
// (2) Time, current, voltage, total marks, position traveled are recorded approximately
// every 60 milliseconds. This may vary depending on the vehicles operational tasks.
// It takes approximately 35-40 milliseconds for each recording. Thus when programming,
// code complexity may not be beneficial.
// (3) Always comment your code. Debugging will be quicker and easier to do and will
// especially aid the instructional team in helping you.
//—————————————————————————————-
// Program between here——————————————————————-
// Performance Test 2
//Begin at staring dock
//Move to gate
reverse(4);
motorSpeed(4,40);
goToRelativePosition(145);
// Slow down
motorSpeed(4,0);
goFor(2);
// Keep slow down and stop
reverse(4);
motorSpeed(4,32);
goFor(1);
//stop between gate sensors
//wait 7 seconds before the gate
motorSpeed(4,0);
goFor(7);
//proceed through gate
reverse(4);
motorSpeed(4,40);
goToRelativePosition(100);
// Slow down
motorSpeed(4,0);
goFor(1.9);
// Keep showing down and get the load
reverse(4);
motorSpeed(4,30);
goFor(1.5);
//Wait 5 seconds after touch the load
motorSpeed(4,0);
goFor(5);
//go back with the load
motorSpeed(4,50);
goToRelativePosition(-143);
//slow down
motorSpeed(4,0);
goFor(2);
//keep slowing down and stop
reverse(4);
motorSpeed(4,32);
goFor(1.5);
//wait 7 seconds at the gate
motorSpeed(4,0);
goFor(7);
//back to the beginning at the speed of 50
reverse(4);
motorSpeed(4,50);
goToRelativePosition(-130);
//slow down and stop
reverse(4);
motorSpeed(4,32);
goFor(1.5);
// Brake motor.
brake(4);
// And here——————————————————————————–
} // DO NOT REMOVE. end of void myCode()
Graph 1 Energy vs Distance