If Experiment 2 has been successfully completed, it should be possible to make extensions to that code that will control the dani so it drives indefinitely in a square until it is stopped and turned off or the battery expires. Post Lab evaluation/Report Submit a short (one to two pages) report summarizing your laboratory experience that includes the following: A summary of results and observations for each experiment. Document the algorithms used in each experiment. A brief explanation and/or screen shot is sufficient to convey key points. Some quantitative assessment (rough measures) of how accurately the robot accomplished the intended motion tasks should accompany this report. you may includevideos of the target and/or square driving experiments. Efg's Graphics - very large bitmap Experiment.
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For insight, look at the test Motors vi under the test Panels in the Starter Kit project tree. Note: no where is it explained exactly how the special VIs for the Starter Kit have been developed for the motor driver and motors used. This information is currently being sought and we may examine this in a later lab. There is a feedback control loop set up between the motors and the encoders, and this controller is programmed at the fpga level. It can be helpful to program a pausing or waiting in your program so you can deploy your program and then have time to configure the robot before the maneuver begins. There are many ways to do this, but english one simple piece of script that works is to begin the program with a timed loop inside which is a command to set the motors to zero velocity. An example is shown below. The loop will repeat every 20 msec and when the iteration count (displayed on the front panel) exceeds a preset value the robot will start. This is crude but it gets the job done (and won't be necessary once we set up a wireless connection). Experiment 3: Driving in a square pattern.
Error can be assessed, and the process of understanding what factors influence the controlled motion of this vehicle can be started. The simplest way to program motion to a specific target is to break up the maneuver into basic motions (or behaviors if you like). Since the dani is moving on a nice flat terrain without obstacles, we can move from a start position to a target position, (Xtarget, Ytarget in several basic ways. For example: make a zero radius turn from the known starting orientation to align with target, then drive straight to target drive along for x, turn 90 degrees, drive along Y to get to target design a more elaborate way to drive along a smooth trajectory. It is recommended that either option 1 or 2 be adopted for this experiment. In this experiment, the driving is purely open loop. make sure to account for the gear ratio in your algorithms.
Experiment 2: Driving to a target location - open loop maneuvers. The goal of this experiment is to drive the dani from a start position to a target position. Orientation thesis (i.e., the yaw angle) at the end of the maneuver is not to be specified in resumes this experiment. The intent is to write code that will control the robot so that a very specific behavior is achieved. It is not possible with roaming to tell how well the robot is accomplishing the maneuvers meant to avoid obstacles. There is no specific target intendend. In this experiment, you will be able to judge whether your code is effective in getting the dani to move to a point.
One way to do this is to use a mathScript node. The beginning of an implementation in this form might look as follows: It is your job to fill in the code, which should be similar to what you used in the simulations of Homework 1. A few notes: Test the code with the dani 'up on blocks' so you can observe the motor action. Note that the motors on the dani have specific rotational directions, so the sign of the left and right motor velocities may need to be modified from the orientation assumed in your theoretical model. If you're debugging a alot, it can help to plug in the available dc power supply so you don't drain the battery during software development. Ask for help if you are not familiar with this supply. It may not matter in this experiment, but you should make note of the fact that the dani geared motos have a gear ratio with a value. This means that your motor speeds are a factor of 2 higher than the wheel rotational speeds. When you test your Reconstructed roaming vi, there should not be a discernible difference in the performacne of the dani when it is allowed to roam around the lab.
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Study the roaming vi and identify how the desired steering frame velocity is formed and sent to the Apply Steering Frame velocity to motors. This is the vi that you need to replace with your own design. Make a plan for how to reconstruct homework the roaming algorithm for each of the planned laboratory goals. Important: do not modify the original roaming VIs found in the Examples. Open the Starter Kit roaming project, then "save." to create rhit a copy of the entire project in your working directory.
Laboratory Procedure, experiment 1: Reconstructing roaming. The idea here is to revisit the Starter Kit.0 roaming vi and reconstruct using basic principles studied. Working with a copy of the project, focus on replacing the vi indicated below: This is a generalized vi from the robotics Module that uses a defined steering geometry to calculate the motor velocities needed to achieved a desired steering frame velocity for the robot. For example, in the Drive toward Gap vi, you'd find: This is the steering frame velocity that is desired in order to move the robot toward the gap detected by the ping sensor. Again, working with your own copy of the roaming vi, delete the Apply Steering Frame velocity to motors VI: Now you need to reconstruct using your own algorithm that takes the desired steering frame velocity and finds the left and right motor velocity setpoints.
Specify a target position, and have the dani drive there from, say, (0,0). . Try three different target points. . evaluate open loop effectiveness. Specify 4 successive points that define the 1 m square. . Starting from (0,0 successively go to (1,0 then (1,1 then (0,0 then back to (0,0). . There are really only two moves here, but they require different parameters. .
For example, going to a point means you must define the time period to get there. . This will define the speeds. Similarly, making a 90 degree turn once you get to a point also requires you to define how fast to do that. . The default would seem to try to go as fast as possible. . If you do, how well is the 1 m square formed? . you may learn from doing step 2 first. Pre-lab - tasks that should be accomplished before coming to lab. Complete key portions of, homework 1.
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This lab will involve writing your own code to set the motor speed setpoints on the mobile robot so as to achieve a desired steering frame velocity. This exercise takes advantage of the existing roaming program structure. a key objective is to implement an open loop algorithm to specify the motor speed set points based on the robotic vehicle kinematic model studied. Homework 1 through simulation. This algorithm is to be evaluated further by implementing and testing additional open loop driving margaret maneuvers in the lab. A brief post-lab evaluation/report should discuss the results and contrast. Goals (as previously communicated verify that your algorithm for driving the motors is valid by replacing the one margaret that is in the current roaming program. Everything else stays the same. . The robot should operate just as before.
If the writing wrong voltage or power level is used, the recorded melting point will be incorrect. (Mohrig, figure.5, page 120) Waste disposal and Clean-up Dispose of used melting point capillaries in the glass disposal box. Transfer your distilled liquid to a labelled glass vial and store in your personal tote. Rinse your glassware with acetone and dispose of the acetone rinse in the flammables waste bottle. Post-Lab question: (Please turn in the answers to these questions when you arrive at your next lab.). In an Excel data table, list your unknown number, your partner's unknown number(s your partner's name(s and the respective boiling and melting points. . (Please include the setting on the variac for the boiling point and the setting on the melTemp for each melting point.). ME 379M/397: cyvs, laboratory 2, return to clog, last updated 2/10/14. Reconstructing roaming toward Square Driving, this laboratory exercise is meant to provide continued exposure to programming the dani robot platform using Labview and the robotics Module.
nitro. Throughout the next two labs and during some portions of our lecture, you will work with your partner to discover the physical properties and possible functional groups that make each unknown unique. From this information, you should be able to identify your unknowns from a list of possible compounds that will be given to you around the end of Part. Safety notes, wear gloves and goggles when handling your unknown compounds. Simple distillation should be carried out in the hood. Experimental Work, objective: to collect preliminary classification and physical property information for each unknown compound using the following techniques: Experimental Procedure, melting point/Boiling point. Obtain the boiling point of the liquid unknown using simple distillation and the melting point of the solid unknown using. Both of these procedures can be found in the Appendix. It is important to record the voltage or power level used when obtaining your melting point.
Describe what you would see in a melTemp apparatus as a compound with a melting point of 160-163 deg. C slowly went from 150 deg. C to 170 deg. How will you know when you've obtained the boiling point of your apple unknown liquid using a simple distillation apparatus? Why should you never completely boil all the liquid out of your distillation flask when running a distillation? What are the seven possible major functional groups that could be in your unknown compounds? Using ChemDraw, create a single compound using all seven major functional groups listed in question 4. Note: you can use more than 7 functional groups, such as alkanes, to help you create your monster structure. This lab is a 2 part experiment that uses wet chemical techniques and spectroscopic data to collect physical and chemical property information about two unknowns, a solid and a liquid at room temperature.
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Lab iii: Part 1 of the 2-Part dual Unknown Lab. Pre-lab Work, reading Assignment: Introduction to functional Groups: Hornback ;. 50-53, melting point Determination: Appendix mohrig parts -2nd edition Technique.1-10.3,.6,. 116-123, 125, or 3rd edition Techniques.1-14.4,. Boiling point Determination: Appendix mohrig -2nd edition Technique.1-11.3,. 128-137, or 3rd edition Techniques.1-13.3. Pre-lab questions: (Please turn in the answers to these questions when you arrive to lab.).