{"id":45,"date":"2024-02-11T04:45:12","date_gmt":"2024-02-11T04:45:12","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamd6\/?p=45"},"modified":"2024-02-11T04:53:37","modified_gmt":"2024-02-11T04:53:37","slug":"team-status-report-for-feb-10","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamd6\/2024\/02\/11\/team-status-report-for-feb-10\/","title":{"rendered":"Team Status Report for Feb 10"},"content":{"rendered":"

Significant risks and risk management:<\/strong><\/p>\n

Risk:<\/strong>\u00a0Inverted double pendulum simulation wouldn\u2019t converge<\/p>\n

Definition:<\/strong>\u00a0Since we are still working on building a simulation for the inverted double pendulum, we do not know whether or not problems like numerical instability or truncation error of the integrator would cause the simulation to not converge, i.e. incapable of settling on a solution.<\/p>\n

Severity:<\/strong>\u00a0If the inverted double pendulum simulation wouldn\u2019t converge, the progress of the whole project would be severely<\/em>\u00a0jeopardized, because the simulation is a critical part of Prototype 1, that is swinging up the double pendulum with NMPC in simulation.<\/p>\n

Resolution:<\/strong>\u00a0A step we can take right now is to accelerate our progress towards a testable MVP of the simulation, whose convergence can be validated. Another measure is to study the properties of common numerical integrators and select those with superior convergence properties and are available in our library.<\/p>\n

Risk:<\/strong>\u00a0The analog circuit can\u2019t meet the required tolerances<\/p>\n

Definition:<\/strong>\u00a0This risk has been brought to our attention by our assigned in instructor Thomas Sullivan (Thanks!). It is currently unclear to us what tolerance the analog components will need to have in order to satisfy the 10% solution accuracy required by the accuracy requirement (NR3). This is nontrivial to determine as the accuracy of the whole circuit can\u2019t be easily associated with the accuracy of individual components.<\/p>\n

Severity:<\/strong>\u00a0If the analog circuit can\u2019t meet the required tolerances, the progress of the whole project would be severely<\/em>\u00a0jeopardized, because the accuracy requirement (NR3) would not be satisfied.<\/p>\n

Resolution:<\/strong>\u00a0A solution is to use Sergey\u2019s work [1] as a reference. If our components are more accurate than Sergey\u2019s components in every relevant measure, it is likely that the whole circuit wouldn\u2019t be significantly worse in accuracy compared to his circuit. This is possible because \u00a0more accurate components are available since his work was published.<\/p>\n

Changes to the existing design:<\/strong><\/p>\n

There are no significant changes to the existing design because this is the week in which our proposal was presented, and our initial design was just finalized.<\/p>\n

Changes to the project schedule:<\/strong><\/p>\n

Similarly, there are no significant changes to the project schedule compared to what was presented in the proposal presentation.<\/p>\n

References:<\/strong><\/p>\n

[1] https:\/\/escholarship.org\/content\/qt01q7h2ng\/qt01q7h2ng_noSplash_2892dd43015926698bb02bdb85d7b62f.pdf<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

Significant risks and risk management: Risk:\u00a0Inverted double pendulum simulation wouldn\u2019t converge Definition:\u00a0Since we are still working on building a simulation for the inverted double pendulum, we do not know whether or not problems like numerical instability or truncation error of the integrator would cause the simulation to not converge, i.e. incapable of settling on a … <\/p>\n

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