Difference: 2015_10_20 (1 vs. 9)

Revision 92015-11-09 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
Line: 8 to 8
 
  • SNR OA2 was run with a modified version of the algorithm that moves phi first to the lesser of 77deg or target angle. Next iteration it goes all the way out. AnalyzeTargetRun doesnt work properly on those data.
  • Generated new targets on 11/2 supposedly without collisions at target locatin (rule #2).
  • Target runs with new targets failed due to loose cable after measurements on the testbed. Restarted everything and set new home angles on 11/6/15 at 324pm.
Added:
>
>
  • SNR OA = 15_10_23_10_50_14_TargetRun_oa
  • SNR OA2 = 15_10_27_11_45_53_TargetRun_oa
 
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding SNR OA SNR OA2
5 0.957 1.014 na 0.863 0.872 0.946

Revision 82015-11-06 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
Line: 7 to 7
 
  • 10/23/2015 - First test with OA did not print out due to MSIM bug - bug fixed by Johannes - next test should give results.
  • SNR OA2 was run with a modified version of the algorithm that moves phi first to the lesser of 77deg or target angle. Next iteration it goes all the way out. AnalyzeTargetRun doesnt work properly on those data.
  • Generated new targets on 11/2 supposedly without collisions at target locatin (rule #2).
Added:
>
>
  • Target runs with new targets failed due to loose cable after measurements on the testbed. Restarted everything and set new home angles on 11/6/15 at 324pm.
 
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding SNR OA SNR OA2
5 0.957 1.014 na 0.863 0.872 0.946

Revision 72015-11-05 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
Line: 6 to 6
 
  • From the first to the second non colliding column there is an improvement due to motor map update. After that no more updates were done.
  • 10/23/2015 - First test with OA did not print out due to MSIM bug - bug fixed by Johannes - next test should give results.
  • SNR OA2 was run with a modified version of the algorithm that moves phi first to the lesser of 77deg or target angle. Next iteration it goes all the way out. AnalyzeTargetRun doesnt work properly on those data.
Added:
>
>
  • Generated new targets on 11/2 supposedly without collisions at target locatin (rule #2).
 
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding SNR OA SNR OA2
5 0.957 1.014 na 0.863 0.872 0.946
7 0.995 1.021 na 0.980 0.970 0.983

Revision 62015-10-30 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
  • Partially worked, targets for some positioners were off (roughly 1-20).
  • From the first to the second non colliding column there is an improvement due to motor map update. After that no more updates were done.
  • 10/23/2015 - First test with OA did not print out due to MSIM bug - bug fixed by Johannes - next test should give results.
Changed:
<
<
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding SNR OA
5 0.957 1.014 na 0.863 0.872
7 0.995 1.021 na 0.980 0.970
9 1.000 1.015 na 0.964 0.954
11 1.004 1.032 na 0.966 0.911
19 na 1.005 na 0.942 0.861
25 0.807 1.018 na 0.938 0.951
29 0.851 1.005 0.975 0.970 0.911
31 1.002 1.005 0.948 0.947 0.965
33 1.020 1.022 0.995 0.979 1.010
35 0.899 1.020 0.979 0.012 0.812
37 0.986 1.007 0.940 0.743 0.801
39 0.974 1.015 0.961 0.954 0.970
41 1.026 1.031 0.967 0.980 0.952
45 1.030 1.033 1.018 1.006 1.007
>
>
  • SNR OA2 was run with a modified version of the algorithm that moves phi first to the lesser of 77deg or target angle. Next iteration it goes all the way out. AnalyzeTargetRun doesnt work properly on those data.
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding SNR OA SNR OA2
5 0.957 1.014 na 0.863 0.872 0.946
7 0.995 1.021 na 0.980 0.970 0.983
9 1.000 1.015 na 0.964 0.954 0.973
11 1.004 1.032 na 0.966 0.911 0.95
19 na 1.005 na 0.942 0.861 0.879
25 0.807 1.018 na 0.938 0.951 0.950
29 0.851 1.005 0.975 0.970 0.911 0.942
31 1.002 1.005 0.948 0.947 0.965 0.953
33 1.020 1.022 0.995 0.979 1.010 1.000
35 0.899 1.020 0.979 0.012 0.812 0.869
37 0.986 1.007 0.940 0.743 0.801 0.862
39 0.974 1.015 0.961 0.954 0.970 0.967
41 1.026 1.031 0.967 0.980 0.952 0.941
45 1.030 1.033 1.018 1.006 1.007 1.009
  -- JohannesGross - 20 Oct 2015

Revision 52015-10-26 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
  • Partially worked, targets for some positioners were off (roughly 1-20).
  • From the first to the second non colliding column there is an improvement due to motor map update. After that no more updates were done.
  • 10/23/2015 - First test with OA did not print out due to MSIM bug - bug fixed by Johannes - next test should give results.
Changed:
<
<
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding
5 0.957 1.014 na 0.863
7 0.995 1.021 na 0.980
9 1.000 1.015 na 0.964
11 1.004 1.032 na 0.966
19 na 1.005 na 0.942
25 0.807 1.018 na 0.938
29 0.851 1.005 0.975 0.970
31 1.002 1.005 0.948 0.947
33 1.020 1.022 0.995 0.979
35 0.899 1.020 0.979 0.012
37 0.986 1.007 0.940 0.743
39 0.974 1.015 0.961 0.954
41 1.026 1.031 0.967 0.980
45 1.030 1.033 1.018 1.006
>
>
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding SNR OA
5 0.957 1.014 na 0.863 0.872
7 0.995 1.021 na 0.980 0.970
9 1.000 1.015 na 0.964 0.954
11 1.004 1.032 na 0.966 0.911
19 na 1.005 na 0.942 0.861
25 0.807 1.018 na 0.938 0.951
29 0.851 1.005 0.975 0.970 0.911
31 1.002 1.005 0.948 0.947 0.965
33 1.020 1.022 0.995 0.979 1.010
35 0.899 1.020 0.979 0.012 0.812
37 0.986 1.007 0.940 0.743 0.801
39 0.974 1.015 0.961 0.954 0.970
41 1.026 1.031 0.967 0.980 0.952
45 1.030 1.033 1.018 1.006 1.007
  -- JohannesGross - 20 Oct 2015 \ No newline at end of file

Revision 42015-10-23 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
  • Partially worked, targets for some positioners were off (roughly 1-20).
  • From the first to the second non colliding column there is an improvement due to motor map update. After that no more updates were done.
Added:
>
>
  • 10/23/2015 - First test with OA did not print out due to MSIM bug - bug fixed by Johannes - next test should give results.
 
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding
5 0.957 1.014 na 0.863
7 0.995 1.021 na 0.980

Revision 32015-10-21 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
  • Partially worked, targets for some positioners were off (roughly 1-20).
Changed:
<
<
PID Performance Before Performance Colliding
29 1.005 0.975
31 1.005 0.948
33 1.022 0.995
35 1.020 0.979
37 1.007 0.940
39 1.015 0.961
41 1.031 0.967
45 1.033 1.018
>
>
  • From the first to the second non colliding column there is an improvement due to motor map update. After that no more updates were done.
PID SNR no Collision SNR no Collision SNR Colliding SNR Colliding
5 0.957 1.014 na 0.863
7 0.995 1.021 na 0.980
9 1.000 1.015 na 0.964
11 1.004 1.032 na 0.966
19 na 1.005 na 0.942
25 0.807 1.018 na 0.938
29 0.851 1.005 0.975 0.970
31 1.002 1.005 0.948 0.947
33 1.020 1.022 0.995 0.979
35 0.899 1.020 0.979 0.012
37 0.986 1.007 0.940 0.743
39 0.974 1.015 0.961 0.954
41 1.026 1.031 0.967 0.980
45 1.030 1.033 1.018 1.006
  -- JohannesGross - 20 Oct 2015

Revision 22015-10-20 - JohannesGross

Line: 1 to 1
 
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
  • Partially worked, targets for some positioners were off (roughly 1-20).
Changed:
<
<
>
>
PID Performance Before Performance Colliding
29 1.005 0.975
31 1.005 0.948
33 1.022 0.995
35 1.020 0.979
37 1.007 0.940
39 1.015 0.961
41 1.031 0.967
45 1.033 1.018
 

-- JohannesGross - 20 Oct 2015 \ No newline at end of file

Revision 12015-10-20 - JohannesGross

Line: 1 to 1
Added:
>
>
META TOPICPARENT name="POSEM_AL"

Collision Avoidance

  • Ran first test with colliding cobras.
  • Partially worked, targets for some positioners were off (roughly 1-20).

-- JohannesGross - 20 Oct 2015

 
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