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
This topic: Subaru/PFS
> WebHome >
POSitionerEM >
POSEM_AL > 2015_10_20
Topic revision: r9 - 2015-11-09 - JohannesGross