Hours 0912

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

Dec 2009

todo

• run experiment to verify INC and MILE
• save step response with static_test.py
• make more BT boards
• hall sensor for knee
• matlab plot INI file.
• digikey: order flex cables,
• make PCBs for eddy current sense
• measure resistance on boot (incorporate into mode2)
• implement thermal model, w/updates from resistance measurement.
• get LF potential function
• add "text code" into the ASC output from SWIFI
• pickle with robo config to make parameter restoration easier.

tue dec 1

• lab office moving problem

wed dec 2

phone

• HH 15 min

thu dec 3

• 15 min : phone discussion w/GG re lifefix
• 20 mins : SH
• 15 min : phone discussion w/HH and GG re operation of PP

fri dec 4

• 45 mins on eddy current sensor - calculate inductance and Q factor.
• 1:10 discuss w/GG overview of the lifefix, and derivatives of the linear hall sensor
• 30 mins analyze linear hall sensor data, email plots and assessment

phone

• 35 mins phone GG (1:33pm)
• 39 mins phone GG (2:55pm)

notes

• thesis with reference to planer inductor calculation : http://etd.fcla.edu/SF/SFE0000144/John_Capwell_Thesis.pdf
• seminal work : R. Remke and G. Burdick, "Spiral Inductors for Hybrid and Microwave Applications," IEEE 1974 Electronic Components Conference, pp. 152-161

sat dec 5

• working on knee code

sun dec 6

• 30 mins - experiments with Eddy current sensor.

• working on knee code

mon dec 7

• 1pm - 5:20p
  • meet w/ HH and GG to explore tuning and PFF
  • meet w/ GG to discuss code
  • discuss EMI freqs w/DkG

tue dec 8

• 1pm - 6.30p
  • tuning w/HH
  • code mods w/GG

• • assist w/BT issue
  • assist w/LF issues
  • looking into cause of LF UDP to PC issue

wed dec 9

• 10 min discussion w/RC re lifefix interlock
• 2pm - 7pm
  • set running of LF, resulting on motor overheat
  • continue LF discussion, stratagies for avoiding failures
• 9:20-2am
  • add retry for motor temperature measurment
  • exponential increase in cooling time
  • modify firmware to open motor leads in mode 0
  • add jr3 min, max to run lifefix

phone

• 3 wRC (11:45a)
• 12 wRC (1pm)
• 1 ED
• ED 7 (11:10p)
• ED 8 (12:28am)

thur dec 10

• 10am - 12n
  • code improvements re run_lifefix_v2 (add time difference)
  • SVN updates re lifefix
  • discuss w/ED JR3 issue
  • discuss w/RC re MILE status
• 12:30p - 1:45p
  • will add code to encoder position and drift.
  • added code to cause zero LF robot motor current when the thrust scale factor is reduced
  • discuss w/DG LF status and motor needs, will build 2nd LFrobot for testing. we will run potential function

• 6:15p - 8:45p
  • disuss w/GG and DG lifefix improvements
  • test and improve lifefix code, looking into cause of JR3 timing anomaly.
• 11:00p - 1:45a
  • work with MILE encoder

fri dec 11

• 10am - 9pm -0.5 -1.15
  • phone w/ED re how to get MC to get past commutation, fix the code
  • at IW to help with LF
  • assist DG and CA to make in-system motor resistance measurement - seems to be lots of variability
  • improvements to LF code.
    • command line options to set min run interval and total run duration
    • small thrust will zero motor current and reduce PI parameters

• • phone w/RN re boost conveter, review HR_PWM module for dspic

sat dec 12

• 11a-1pm
  • reviewing charge amp code for how errors are processed, code up improvements and partially test
  • review LF status, send email
• 2:30p - 9pm
  • testing Rev300 SC/MC, testing mile encoder
  • modify SC and MC code to work on Rev300 hardware
  • get bench test program running.

sun dec 13

• 10a - 2:30 p
  • testing the EEPROM keys, add support into benchtest
  • verify keys can run a script file
  • make use of the keys in motor_init, etc.
  • experiment with playing JR3 output as a sound file.
  • email DG re status of fixture.

• 4p - 1:10am (-2hr) (-1hr)
  • matlab compilation of plot_lifefix to standalone
  • developing procedure to bring up new boards. Benchtest_users#prepare_a_new_board

• • fix timing issue with mile encoder firmware - make more compliant with "Fast mode spec"

mon dec 14

• 10am - 1:30 am (yes ~15 hrs) - 45 mins
  • prepare for meeting with RC and RN
  • RC boost converter pre-meeting
  • RC & RN meeting
  • GG, DkG, RC battery and system architecture meeting
  • meeting with DG re lifefix.
  • create lifefix static_test program

notes

• http://www.mathworks.com/support/solutions/en/data/1-1I5TNS/index.html
• C:\Program Files\Microsoft Visual Studio 8\VC\bin
• c:/Program Files/MATLAB/R2007b/bin/win32/mexopts/msvc80engmatopts.bat

tue dec 15

• 10am - 10pm - 1hr
  • emails re LTF status
  • static_test.py development
  • email GG re swifi plotting, and how to change data
  • discussion with RC re GG software project
  • at IW, assist GG with PP hold software
  • discuss w/RC bio results and compare with robot.
  • work with DG on LTF experiment
  • continue static test development, logging of data, start (multi hour) run.

wed dec 16

• 11a - 1:30p
  • review LTF data, write view program for DG, send email summary.

• 2:30p - 7pm (-20)
  • send CA info on order Wiport, setup BT wiki page.
  • discuss w/GG operation of robot 'sensors.c'
  • discuss w/ED status of move_ecat
  • improve charge amp class to do automatic tx read
  • various emails.
  • change static_test to zero charge amp only at the start, and call move_ecat only once per position change
  • re-run static_test with better force measurement
• 30 mins
  • review INC-MILE data, document the encoder difference
  • review LFT static test status

notes

• http://www.gridconnect.com/wi.html

thur dec 17

• 9am - 11:15 pm -1 -30
  • LTF analysis, documenting in wiki
  • assistance w/GG HH re spld tuning
  • assist with writing code for spld
  • discuss LTF w/DG
  • perform LTF sine sweep and analysis.

fri dec 18

• 1 hr boost converter - review schematic, email

sat dec 19

• 2 hrs - LTF analysis
• 2p-9:30p - 30 : OOO
  • verify processing of spi Rx message

sun dec 20

• 6 hrs : OOO
  • develope use of X-macros
  • code to get/set parameters
  • discuss with HH code dev plan

mon dec 21

• 1 hr - OOO : code to get/set parameters, document same
• 12:30-10:55p
  • discuss with GG status
  • discuss w/HH algorithm plan tork = k*(th-thQ) where thQ = -beta*theta_H^2
  • implement algorithm and test on HH (controller_ppf)
  • discuss new algorithm and implement new algorithm which is successful
  • recode screen to make easy for tuning.
  • review LTF science, and encoder code.

tue dec 22

• 3 hrs
  • email CA status of LD2
  • discuss w/HH detailed operation of TC controller.
  • document / describe tail spring controller

wed dec 23

• 2 hrs - LTF data, analysis, create plots
• 45 min discuss w/RC and DG re LTF status and Tuesday study lockup causes, changes.

thur dec 24

• 2 hrs
  • LTF analysis
  • phone ED network router problem
• 5pm - 10pm
  • experiments with LTF - looking for cause of torque ripple
  • torque ripple appears to be related to mode2 - as
  • changed tk_mot.InitUserParms to take an encoder resolution parameter.

fri dec 25

• 2 hr
  • LTF MC code development - explored memory usage issues
  • scaled white noise table, created in C
• 12:15p-5pm
  • tested LTF FLASH thrust table
  • code to adjust encoder resolution to arbitrary value
  • with encoder resolution off by one, verified that motion stops after ~250 rotations
• 1 hr
  • create a JR3 log program separate from the supporting class.
  • review encoder data and parameter synchronization
  • test stimulation new functions

sat dec 26

• 12:30p-3:50pm
  • ran the LTF dynamic experiments, converted data, documented on wiki, and email DG
• 30m admin

sun dec 27

• 30 review and purchase replacement monitor
• 3:55-5:30pm
  • analysis of white noise and sine sweeps.
  • admin

• meet w/RC 4legals - discuss MILE enc, eddy current sensor, LTF results.
• 1.5 hrs - OOO - complete coding of "process_parameters". thinking better to have a single param list and use const static size field.

mon dec 28

• 2.5 hrs
  • many emails re LTF
  • review LTF data
  • create new MC firmware with new white noise stimulus table.
  • 30 mins phone DG discuss LTF
  • 1.5 hrs phone w/DG discuss LTF, bring up new firmware and run white noise test
  • 30 mins LTF complete tests and data conversion

tue dec 29

• 30 mins - assist CA and GG with present version of firmware, and documentation for PCB layout.
• 3pm - 8:30p
  • discuss with DG LTF white noise results
  • discuss w/GG Rev300 software merge
  • show CA and GG how to reprogram a Wiport

wed dec 30

• 30m emails DG and GG
• 3pm-9:15p
  • assist GG and CA w/SIFI firmware
  • locate cause of RPM and qIq issues on MC firmware, caused by scaling error with MILE
  • update LTF with new MC firmware and test.

thur dec 31

• admin - review work from late nov
  • 30 mins
• EMG development.