## Course Assignments

• Lecture assignments are turned in at the beginning of lecture.
• Pre-Lab assignments are done before a lab session.
• Lab activities are done during the scheduled lab period.

All assignments are to be done individually unless noted otherwise. Students can help each other, but all code and hardware measurements must be done by the student turning in the assignment.

### Assignments

Risk reduction information
Optimization challenge
• Photo1 and Photo2 of the assembly (note you may only have one R3 pulley as opposed to two like shown in images)
• Written solution to task 1 equations of motion
• Example code
• Prof. G's output using Matlab's fmincon to exactly find optimal values (units are m, m, kg, g/s)
• R2 = 0.023447 R3 = 0.005128 mass = 0.500000 f.o.m. = 245.953242
• R2 = 0.030723 R3 = 0.006719 mass = 0.500000 f.o.m. = 245.705185
• R2 = 0.033957 R3 = 0.007426 mass = 0.500000 f.o.m. = 245.557270
• R2 = 0.039617 R3 = 0.008664 mass = 0.500000 f.o.m. = 245.251471
• R2 = 0.044468 R3 = 0.009725 mass = 0.500000 f.o.m. = 244.945350
Instructions:
Optimization Challenge Task 2 will have two due dates for the following deliverables:
1. Task 2.1:​ Table of new optimal parameters (Due 2/9/2019, 11:59PM).
2. Task 2.2:​ Plot of experimental measurements compared to theory (Due 2/14/2019, 11:59PM).
3. Task 2.3:​ Succinct write-up of results (Due 2/14/2019, 11:59PM).
Note: You can use this sample Arduino Lifting code for experimental time measurement to lift mass by 80 cm.

1. Fill out the google sheet here with your name and partner for each team number (this will be your assigned team number for the project). If you are a group of 3, please notify a TA and you will be rearranged as pairs. Each team number is associated with the labeled taped-off desk areas in EBUII-Rm 311 (Teams #1-19, 21-35) and Rm 312 (Teams #20, 36-50) for which you can store your kits and project.

2. Return unused components from your kits and pick up necessary parts from this Parts List for your Optimization Challenge.  The following are available times for you or your partner to drop off and pick up the components:

Friday 2/1/2019

 9am-11am Jason 11am-1pm Jamie 1pm-3pm James
Homework 1 Turn-in Instructions:

Cover page with name, PID, assignment number and date.

Question #1 and #2: handwritten equations are OK.

Question #2: (*updated instructions):

Assume no inductance! Show the steps of deriving the closed form solution. Only the analytical solutions are needed (e.g. theta, Wss, Wt, and time constant in an analytical format). No plot is required to be shown here.

Question #3 (*updated instructions):

a) Copy and paste your matlab code into this part. (we check on 2 things):
• Is any matlab ODE solver being used?
• Is the ODE function being rightly written and included?
• Motor position output vs. time for 50 milliseconds (compare closed form Q#2 vs. numerical solution Q#3, in one figure).
• Motor velocity output vs. time for 50 milliseconds (compare closed form Q#2 vs. numerical solution Q#3, in one figure).
• Comments on comparison of closed form vs. numerical solution.
c) Assume inductance! Motor position and velocity on a single plot for the full 150 milliseconds of the numerical simulation.
• Three plots required with different axis units.
• One plot should use radians & radians/s, the second degrees and degrees/s, and the third should use rotations and rotations per minute (RPM)
Question #4: Results (just the values, we don't need to see code) from #4 and comments on how the parameter changes affect the results.

Question #5: A link to the specification of the motor you chose for #5.

### Workshops

Workshops are elective and review the software used in the course.

SelectionFile type iconFile nameDescriptionSizeRevisionTimeUser
Ċ
441k v. 1 Jan 22, 2019, 11:24 AM Mingsong Jiang
Ċ
445k v. 1 Jan 28, 2019, 4:25 PM Mingsong Jiang
Ċ
83k v. 1 Jan 19, 2019, 10:19 AM Nicholas Gravish
Ċ
132k v. 2 Jan 25, 2019, 3:57 PM Jerry Tustaniwskyj
Ċ
299k v. 1 Feb 4, 2019, 12:00 PM Mingsong Jiang
ą

1536k v. 1 Feb 11, 2019, 2:23 PM Nicholas Gravish
ą

1505k v. 1 Feb 11, 2019, 2:23 PM Nicholas Gravish
ċ

5k v. 1 Feb 11, 2019, 12:06 PM Jamie Luong
Ċ
53k v. 1 Jan 10, 2019, 8:40 PM Jamie Luong
Ċ
96k v. 1 Jan 31, 2019, 8:24 PM Jamie Luong
Ċ
764k v. 1 Mar 6, 2019, 9:06 AM Mingsong Jiang
Ċ
89k v. 1 Mar 6, 2019, 9:05 AM Mingsong Jiang
Ċ
459k v. 1 Feb 11, 2019, 1:28 PM Mingsong Jiang
ċ

4k v. 1 Feb 9, 2019, 12:09 PM Nicholas Gravish
Ċ
496k v. 1 Feb 9, 2019, 11:08 AM Nicholas Gravish
Ċ
326k v. 2 Feb 8, 2019, 6:32 PM Jerry Tustaniwskyj
Ċ
86k v. 3 Feb 15, 2019, 4:56 PM Jamie Luong
Ċ
385k v. 1 Feb 3, 2019, 3:31 PM Jamie Luong
Ċ
417k v. 1 Jan 9, 2019, 7:48 AM Nicholas Gravish
ċ