156B Week 9

Overview of Status of Analysis, Design, Fabrication, Tests, etc.

• • Final hardware assembly of system to be completed by Friday, 6/2

  • Wiring and electronics integration underway to be completed by Friday, 6/2

  • Open loop testing will be underway over the weekend, 6/2-6/4

Accomplishments from Previous Week

• • Initial hardware assembly

  • Second simulation created for PID constant exploration

  • found center of mass and center of pressure using SolidWorks (need to confirm with Prof to make sure it's correct)

Goals for Next Week (list names after each item). Use specific and measurable objectives.

• • Finish system integration and assembly, 6/2 (Doris, Michael, Hugo)

  • Finish final dynamic model per updated suggestions by Scripps, 6/2 (Zach)

  • Open loop testing at Scripps Keck pool, 6/2-6/4, (Team)

  • Basic controller design and code completed and ready to run, 6/7 (Hugo & Michael)

  • Do poster draft 1 (Duncan and team)

Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)

• • Update simulation (5/30 person) - change the basis of the simulation from ODE45 to a finite difference method

    • Finite difference method looked up in preparation for implementation

    • Also recommended to add the controllers constants to the same graph as the depth to get a feel for how the piston is directly affecting the system

  • Charging without opening the system is not necessary for this point in time as we only have a prototype (5/30 person)

    • Bulkhead connector pin not needed for charging, battery charging not a priority

  • At this point testing is more important than fine tuning the PID control (5/30 person)

    • Planned to have preliminary testing performed on Friday

Instructor Comments from Last Meeting and Actions Taken to Address these Comments  (indicate date of comments and if via email or in person)

• • Figure out why the simulation had so much variation (5/23 in person)

    • Simulation had much variation due to the nature of the ODE45

    • It took calculated the position in a piece wise fashion and did not necessarily model the system in the best way, meeting with the sponsor helped and they recommended a switch to a finite difference calculation in the simulation

  • Focus on open loop testing and having the system performing in water (5/30 in person)

    • Time is limited at this point and having simple control is better than no control

  • Calculate center of pressure and center of mass to make sure they are in the stable positions (5/24 in person)

    • calculated center of mass and pressure using solidworks

Comments from Other Students in the Class (indicate date of comments and if via email or in person)

• • NA

Risks and Areas of Concern

• • Running out of time, need to begin testing ASAP in order to successfully implement a controller

Resources or Information Required but not Available

• • NA

Schedule

• • Describe upcoming milestone

  • Update Gantt chart.

Budget (list amount spent and amount remaining)

• • 1910 spent

  • 90 remaining

Progress on Report and Webpage

• • Second draft of report completed last Friday, 5/26

    • Added significant analyses as well as updated formatting and clarity

  • Second draft of final webpage completed last Friday, 5/26