Group Q- Mia Bridgman, Jaime Soria, Zahra Naseer, Jarrett Wiggins
Instructor: Dr. Kadri Parris, GTA: Sheena Marston
Progress Report Week 11
04/10/17
Week 11
Situation
In Lab 10 the task given to the group was to finalize code for the AEV to complete the mission. This
is where the group started encountering serious problems with the consistency of the AEV. It
seemed to have a mind of its own during it`s runs. In 3 subsequent runs of the exact same code, the
AEV would go far short of the initial gate, perfectly to it, and then far past the gate. It made no sense
to the group and we asked for the help of the TA`s. The TA`s did their best to help us, but couldn't
pinpoint the source of the problem which led to multiple changes to the AEV which did not improve
it`s consistency and used up the valuable time to work on the AEV. At this point, the group has
changed the propeller motors, fixed the arduino, replaced the reflectance tape on the recording
wheel, replaced the entire recording wheel, replaced the propellers, put electrical tape on the
acrylic, and replaced the sensors themselves. None of these changes to the AEV have improved
upon it's consistency. A TA noticed at the end of lab 10 that the sensor location of a sensor on the
AEV was actually placed a little far away from the wheel to actually take a reading. At present, that
is the greatest lead on the source of the inconsistency, and a new arm is being made for the AEV
which will correct this error. All of these problems have led to no accurate data being collected from
the AEV, and the AEV being unable to complete the mission as of yet. The data that appears in the
Data and Tables section is also based on a run that had to be assisted by the group at every stage of
the mission, but is still data nonetheless. From this lab the team has learned how to troubleshoot
problems with the AEV extremely well, and has learned the intrinsic details of how the AEV records
distance. This knowledge will be applied in subsequent labs, the CDR, and future careers in order to
boost success and productivity.
Results and Analysis
This past week, there were some very important observations and conclusions made regarding the
success of the AEV. Throughout these past few weeks, the AEV had been very inconsistent with its
sensor counting with each run. It is also worth noting that our AEV had been double counting
throughout this entire testing process, but it did not occur to us that this was a big issue. However,
because the sensors were double counting due to an error in the reflective tape, this led to the
constant inconsistency we were seeing in between each test. The tape was taken off and replaced,
but the sensors were still not reading completely correctly. Sometimes it would read six marks per
wheel turn, sometimes eight. This will hopefully be fixed and explained with further testing text
week. Because of this error, we as a group have decided to worry about getting the code to work
properly rather than worry about the energy efficiency of the AEV. Our beginning plan still stands;
as we plan to use a lower speed and a lighter AEV, but we no longer have the time to alter to code to
further increase energy efficiency. Over the course of this week, I would argue that no
improvements were made regarding energy efficiency, but we feel as though we have found the
root of our inconsistent runs. Because of the errors found, our instructor has allowed us to come in
for more testing time this upcoming Tuesday. With this extra time, we hopefully plan to work out
any more kinks in the AEV itself and in the code. We plan to have a working code completed and
working by the end of this week if we stay focused and make the most of our time given.
Unfortunately, our prior inferences did not create the most cost effective or energy effective vehicle.
We thought that a lower weight would help with energy efficiency and the different base material
would help with the cost, but the AEV still ended up being pricey and not cost effective. However,
our code plans to use marks so it can go to a specific point on the track, so using a lower speed will
help with energy conservation with the limited options that we have. This upcoming week will be
our last chance to fix everything, and that is what we plan to do.
Group Q- Mia Bridgman, Jaime Soria, Zahra Naseer, Jarrett Wiggins
Instructor: Dr. Kadri Parris, GTA: Sheena Marston
Takeaways
Progress Report Week 11
04/10/17
Design - After exhaust most possible scenarios problems, the Team has conclude that maybe the
material of the arm could be the source of the problem.
Design - After fix many parts of the design and still haven't found the problem, a new arm design
with other material than acrylic is necessary to achieve the goal.
Design - Since the material has been a problem in the testing phase
Code- The code until now has appear to achieve the goal of the project, but a review of the code is
necessary to accomplish a more efficient use of energy.
Tables and Figures
This graph shows the power consumed versus time over the AEV`s most successful run in lab 10.
This run was helped out by having team members hold the AEV to complete the phases since the
sensors were so inconsistent. From this data it is clear to see that phase 14 consumed the highest
rate of power per second, phase 2 was the longest, and phase 1 was the quickest.
Phase
1
2
Arduino Code
reverse(2);
motorSpeed(4, 30);
goToRelativePosition(-390);
Time(seconds)
Incremental
Energy(Joules)
0-0.3
1.95
0.3-21.00
55.796
Group Q- Mia Bridgman, Jaime Soria, Zahra Naseer, Jarrett Wiggins
Instructor: Dr. Kadri Parris, GTA: Sheena Marston
Progress Report Week 11
04/10/17
3
reverse(4);
motorSpeed(4,70);
goFor(0.5);
brake(4);
21.06-21.54
88.554
4
motorSpeed(4,0);
goFor(8.5);
21.6-30.122
2.44
5
reverse(4);
30.12-30.18
0.54
6
motorSpeed(4,30);
goToRelativePosition(-420);
30.18-44.2
109.03
7
brake(4); goFor(5);
44.62-49.56
2.93
8
reverse(4);
49.56-49.62
0.75
9
motorSpeed(4,40);
goToRelativePosition(390);
49.62-59.34
100.83
10
reverse(4); motorSpeed(4,70);
goFor(0.8); brake(4);
59.34-60.18
17.17
11
motorSpeed(4,0); goFor(8.5);
60.18-68.48
1.27
12
reverse(4);
68.48-68.82
1.48
13
motorSpeed(4,50);
goToRelativePosition(420);
68.82-83.40
186.06
14
reverse(4); motorSpeed(4,90);
goFor(0.8);
83.40-84.24
21.12
15
brake(4);
84.24-87.24
0.28
Total Energy: 590.20 Joules
This chart shows the code that was executed during each phase of the AEV`s run. This chart also
shows the time that each stage took to complete, as well as the amount of energy consumed during
the stage. From this data it is clear to see that phase 2 took the longest amount of time to complete.
It is also clear to see that phase 1 took the least amount of time to complete and that phase 13 used
the most energy to complete.
Week 12
Situation
The objective of this lab is to finalize the design and code of the AEV. This lab involves the final
testing of the AEV. The AEV will be tested on two different occasions against two different criteria.
This first criteria measure how well the AEV fares against the track; whether it is able to stop at the
Group Q- Mia Bridgman, Jaime Soria, Zahra Naseer, Jarrett Wiggins
Progress Report Week 11
Instructor: Dr. Kadri Parris, GTA: Sheena Marston
04/10/17
appropriate places and carry the cargo back to its initial resting spot. The second criteria measures
the energy efficiency of the AEV. The energy efficiency of the AEV is determined by an energy to
mass ratio.
Weekly Goals
1. Complete a successful code
2. Using drift to reduce the energy needed
3. Print a black version of the arm
4. Decide whether to use time or marks in the code
5. Receive new sensors
Weekly Schedule
Task
Teammate Date
Assigned
Date
Due
Time
Required
Weekly Schedule and Results and
Analysis, design maintenance
Mia
4/3/17
4/10/17
2 hours
Appendices, Takeaways, Code writing
and updating
Jaime
4/3/17
4/10/17
2 hours
Backwards Situation and Tables and
Figures, helping with code
Jarrett
4/3/17
4/10/17
2 hours
Weekly Goals, Forwards Situation,
Zahra
4/3/17
4/10/17
2 hours
APPENDIX A:
Team Meeting Notes:
Date: 09 /April / 2017
Time: 3:30pm (Face to Face)
Members Present: Mia Bridgman, Jaime A. Chavez, Zahra Naseer, Jarrett Wiggins
Topic Discussed: AEV Arm Design
Objective:
Today’s main focus of the meeting was brainstorm ideas for troubleshoot the AEV design that has
been giving inconsistent data.
To do/ Action Items:
-Continue working on the latest Lab report 11
-Develop an spare code for the AEV
-Update the online portfolio
-Fix the arm design of the AEV in SolidWorks
Decisions:
-Jaime will update the design for the arm in SolidWorks
-Mia and Zahra will create a new spare code for the AEV
Group Q- Mia Bridgman, Jaime Soria, Zahra Naseer, Jarrett Wiggins
Progress Report Week 11
Instructor: Dr. Kadri Parris, GTA: Sheena Marston
04/10/17
-Jarred will review the current code to improve the performance through the analysis that matlab
provides
-The team will review the portfolio progress fro feedback
-Since is the last week of testing, an extra meeting outside class will be necessary (Possible date:
Tuesday 11, April)
Reflections:
-Dr. Parris has been really helpful, since he has be the one that suggest a couple of ideas for possible
fixes.
-The current code hasn’t show signs of being efficient, a new approach of the code is necessary
where the energy aim usage will be around 1000.
-The portfolio has been a useful tool for track the progress of the AEV project.
APPENDIX B:
void myCode(){
//Reverse one the motors
reverse(2);
//Set up all motors at constant power (26% power)
motorSpeed(4,26);
//Go to Position
goToRelativePosition(-394); //If it get`s reveresd then change this to positive
//Reverse the motors to slow down the AEV, before the gate
reverse(4);
motorSpeed(4,70);
goFor(0.5);
brake(4);
//Wait for the Gate to open breaking all motors in the AEV
reverse(4);
motorSpeed(4,0);
goFor(8.5);
//Get to the other end and pick up the cargo
motorSpeed(4,30);
goToRelativePosition(-420); //Longer than before since we are`nt exactly halfway due to gate
reverse(4);
//Reverse the motors to slow down the AEV
Group Q- Mia Bridgman, Jaime Soria, Zahra Naseer, Jarrett Wiggins
Progress Report Week 11
Instructor: Dr. Kadri Parris, GTA: Sheena Marston
04/10/17
//reverse(4);
//motorSpeed(4,70);
//goFor(0.5);
brake(4);
goFor(5);
//Get back to the Gate with the AEV
motorSpeed(4,40); //Larger since we now have R2D2
goToRelativePosition(390); //Positive since we are now going backwards
//Reverse the motors to slow down the AEV
reverse(4);
motorSpeed(4,70); //Stronger because we have more momentum with R2D2
goFor(0.8);
brake(4);
//Wait for the Gate to open
reverse(4);
motorSpeed(4,0);
goFor(8.5);
//Make it to the end with R2D2
motorSpeed(4,50);
goToRelativePosition(430);
//Reverse the motors to slow down the AEV at end
reverse(4);
motorSpeed(4,60);
goFor(0.8);
brake(4);