3:00 - 6:00 pm
1. Read amplifier data sheets
2. Tested ADCs on robot brain board
------------------------------------------------
1. Compared amp specs for use on ADC input.
2. Checked noise levels on inputs and outputs of ADCs, both the ADCs built-in to the microcontroller and those on a separate chip on the same board. The noise level was smaller than expected, only about 0.2%, and the primary frequency was at that of the switching power supply, ~1 MHz.
February 23, 2008
February 22, 2008
02/22/08 Leticia Rojas
3:30 - 5:30
1. Work on the Matlab data analysis program
2. Camera Research
-------------------------------
1. I added a function that lets the user manipulate the data by an algebraic expression, it is working perfectly but I'm struggling to make it more user friendly, as well as plotting the resulting data on a new figure.
2. Asked for more quotes for lower fps cameras (100-200). I'm still waiting to hear from the other places I asked for a quote.
1. Work on the Matlab data analysis program
2. Camera Research
-------------------------------
1. I added a function that lets the user manipulate the data by an algebraic expression, it is working perfectly but I'm struggling to make it more user friendly, as well as plotting the resulting data on a new figure.
2. Asked for more quotes for lower fps cameras (100-200). I'm still waiting to hear from the other places I asked for a quote.
02/22/08 Nicole Rodia
1:00 - 5:30 pm
1. Researched A-to-D Converter input structure types
2. Wire configurations/shielding and relationship to noise/coupling
3. Read ADC and amp data sheets to determine which to use
---------------------------------------------------------------------------------
1. Pseudo-differential input type seems to be the best option for the type of input that we have and to minimize noise.
2. Should probably use twisted pair or shielded wires to prevent signals coupling capacitively or from EM interference.
3. Want to use a pseudo-differential ADC with 100 or 250 kSPS and 16-bit resolution. Use low-power, high-speed rail-to-rail I/O amp on ADC input.
1. Researched A-to-D Converter input structure types
2. Wire configurations/shielding and relationship to noise/coupling
3. Read ADC and amp data sheets to determine which to use
---------------------------------------------------------------------------------
1. Pseudo-differential input type seems to be the best option for the type of input that we have and to minimize noise.
2. Should probably use twisted pair or shielded wires to prevent signals coupling capacitively or from EM interference.
3. Want to use a pseudo-differential ADC with 100 or 250 kSPS and 16-bit resolution. Use low-power, high-speed rail-to-rail I/O amp on ADC input.
2/22/08 Stephane Constantin
11:00 to 12:00
1) RC Biped
Collected necessary documents and code and looked up data sheets of parts on the robot.
1) RC Biped
Collected necessary documents and code and looked up data sheets of parts on the robot.
02/21/08 Nicole Rodia
9:00 - 10:00 pm
1. Researched A-to-D Converters
-------------------------------------------
1. Researched potential ADC pitfalls that would reduce accuracy, including reference voltages and logic reset
2. Researched hardware design issues including associated circuitry and passive circuit elements, use of ground planes, and EMI considerations
1. Researched A-to-D Converters
-------------------------------------------
1. Researched potential ADC pitfalls that would reduce accuracy, including reference voltages and logic reset
2. Researched hardware design issues including associated circuitry and passive circuit elements, use of ground planes, and EMI considerations
February 21, 2008
2/21/08 Leticia Rojas
3:00 - 5:30 PM
1. Researched High Speed Cameras for video/data acquisition for robots.
-----------------------------
1. Went through 3 catalogs and about 20-25 different models. Asked for quote for six of them.
1. Researched High Speed Cameras for video/data acquisition for robots.
-----------------------------
1. Went through 3 catalogs and about 20-25 different models. Asked for quote for six of them.
February 20, 2008
2/20/08, Rohit Hippalgaonkar
Wednesday - 12.30 to 2 pm; 4.30 pm to 5.30 pm
--------------------------------------------------
1. MotionView and MotionSolve
1. Spent time getting familiar with MotionView, the package that I will be using to make a model of the Ranger. Read the manual that outlines how to build models, has good modeling tips and seems useful for the optimization and control that we want to implement later. My plan is to start from the simple pendulum and keep adding complexities (could then do the double pendulum, the Simplest Walker, and then finally the Ranger). Will be easier in debugging this way.
--------------------------------------------------
1. MotionView and MotionSolve
1. Spent time getting familiar with MotionView, the package that I will be using to make a model of the Ranger. Read the manual that outlines how to build models, has good modeling tips and seems useful for the optimization and control that we want to implement later. My plan is to start from the simple pendulum and keep adding complexities (could then do the double pendulum, the Simplest Walker, and then finally the Ranger). Will be easier in debugging this way.
February 19, 2008
02/19/08 Hajime Furukawa
2:30 - 5:30
1) Made Corrections to the Motor Controller Board
--------------------------------------------------------
1) Made corrections that Jason suggested to the motor controller board. Made a single and, a single opamp, and an inverting schmitt trigger device. Replaced the old devices with these new smaller devices.
1) Made Corrections to the Motor Controller Board
--------------------------------------------------------
1) Made corrections that Jason suggested to the motor controller board. Made a single and, a single opamp, and an inverting schmitt trigger device. Replaced the old devices with these new smaller devices.
February 18, 2008
02/18/08 Nicole Rodia
4:15 - 6:30 pm
1. Future electronics team meeting
2. Probed A-to-D converter outputs on Ranger
------------------------------------------------------------
1. Discussed status of CAN vs. USB testing, design schedule
2. Checked voltages on Ranger's A-to-D outputs to determine source of noise in output signal. Outputs on the board seemed to have low noise, so it may be due to the long output wires for the data. Could try shielding or twisting instead of ribbon cable.
1. Future electronics team meeting
2. Probed A-to-D converter outputs on Ranger
------------------------------------------------------------
1. Discussed status of CAN vs. USB testing, design schedule
2. Checked voltages on Ranger's A-to-D outputs to determine source of noise in output signal. Outputs on the board seemed to have low noise, so it may be due to the long output wires for the data. Could try shielding or twisting instead of ribbon cable.
2/18/08 Leticia Rojas
3:30 - 5:45
1. Worked on programming for the matlab data analysis program.
------------------------------------
1. Mainly worked on implementing a feature so the user is able to apply a math function to a variable. I'm halfway through, I can apply a function to random numbers, but not to a variable.
1. Worked on programming for the matlab data analysis program.
------------------------------------
1. Mainly worked on implementing a feature so the user is able to apply a math function to a variable. I'm halfway through, I can apply a function to random numbers, but not to a variable.
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