P14372 Gate Review Update Presentation Kaitlin Peranski Kyle Lasher Kyle Jensen Spencer Wasilewski Jeremy Berke Chris Caporale

Agenda Power Analysis Response Time Transfer Function Control Algorithm Bode Plot CAD Housing Models Risk Assessment by Component Cost Analysis/BOM/Order Plan Questions for NST

Power Analysis

Total Response Time Worst Case NST ~ 7 ms Data Acquisition ~ .5 ms Software Interpretation and Control ~ 3 ms Communication to NST ~ .2 ms Total Time = 10.7 ms Leaves 2 ms of overhead

Total Response Time Expected Time NST ~ 4 ms Data Acquisition ~ .5 ms Software Interpretation and Control ~ 1 ms Communication to NST ~ .2 ms Total Time = 5.7 ms Leaves 7 ms of overhead

Transfer Function Derivation To integrate the gyroscope data, Newton’s Method is applied to incoming data ?

Control Algorithm Back-Up Computing the correction can also be done by taking the following steps: 1) Integrate incoming data and store 2) Once there are 32 data points of position compute an FFT on the data. 3) Keep only those frequencies that are above a certain amplitude threshold. 4) Invert the remaining spectrum. 5) Compute the inverse FFT. 6) Send to NST module. 7) Repeat

Control Algorithm Back-Up The incoming integrated data will be held in an array that removes the oldest data to make room for the newest. x[n-1] x[n-2] x[n-3] ... x[n-32] This seems like a foolish thing to do because the only processing being done in the frequency domain is picking out the dominant frequencies and then inverting the resulting spectrum. It uses way more computation time than the proposed method and there is no reason to suspect a more than marginal, if that, increase in performance. x[n]

The peaks happen at 2n / Ts , if a pure sine wave is an input at these frequencies then the integrator will sample at the peaks of the wave and cause the output to increase with out bound Bode Plot 9

CAD Housing Models

Housing Layout

Housing Layout Side View

Risk Assessment: Battery

Risk Assessment: Gyroscope

Risk Assessment: Processor

Risk Assessment: Housing

Risk Assessment: System

Risk Assessment: Test Bench

Cost Analysis/BOM/Order Plan

Questions for NST Can you remove the USB connection from the board and leave contacts to solder wires to?