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

2. 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

3. Power Analysis

4. 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

5. 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

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

7. 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

8. 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]

9. 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

10. CAD Housing Models

11. Housing Layout

12. Housing Layout Side View

13. Risk Assessment: Battery

14. Risk Assessment: Gyroscope

15. Risk Assessment: Processor

16. Risk Assessment: Housing

17. Risk Assessment: System

18. Risk Assessment: Test Bench

19. Cost Analysis/BOM/Order Plan

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