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.
  • 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.
  • 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
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

Edit | Attach | Watch | Print version | History: r9 < r8 < r7 < r6 < r5 | Backlinks | Raw View | Raw edit | More topic actions
Topic revision: r9 - 2015-11-09 - JohannesGross
 
This site is powered by the TWiki collaboration platform Powered by PerlCopyright © 2008-2020 by the contributing authors. All material on this collaboration platform is the property of the contributing authors.
Ideas, requests, problems regarding TWiki? Send feedback