Lab 1 Submission Sheet

Keep answers as short as possible while still meeting specifications. Submit as a PDF.

Team Number:

Team Member Names:

Provide acceleration plots and analysis

This submission item will cover multiple questions from the “Motherboard Validation, IMU Calibration, and IMU Error Measurement” section:

• How many m/s^2 does one accelerometer unit represent?
• What are the x, y and z axis zero acceleration measurements?
• Are the x, y and z axis zero acceleration measurements statistically different from one another?
• What are the mean, standard deviation, standard error and 95% confidence bounds for a static acceleration measurement in the z direction?

Answering these questions requires data from your accelerometer, which you should include in this submission as three graphs depicting data from the same trial, one showing x acceleration, one showing y acceleration, and one depicting z acceleration.

Effort Specification:

• Includes four plots of data from the accelerometer that show zero acceleration x data, zero acceleration y data, zero acceleration z data, and z data that reflects acceleration due to gravity.
• Plots are labeled (in title or caption) to indicate which is zero x, zero y, zero z and accelerated z.
• Accelrated z plot has different mean from other plots.
• Vertical scale is set to show variations in the data values.
• Y-axis is set so we can easily read off values.
• Includes some calculations for each question.

Complete Specification:

• Calcuations that relate acceleration due to gravity to one accelerometer unit are correct.
• Take the mean of data to calculate the resting zero acceleration values. Report them clearly with appropriate uncertainty bounds.
• Includes description of how to calculate statistics and correct values.
• Includes description of how to calculate T tests and results of tests on data.

Paste the code used to navigate the obstacle course

Effort Specification:

• Present and reasonable.

There is no complete specification for this deliverable.

Plot acceleration measurements vs. the sample number from a run in the obstacle course. (No need to convert the x-axis to time.)

Effort Specification:

• Present and interpretable.

Complete Specification:

• Shows multiple acceleration events that suggest motion through an obstacle course.
  
• Scale is legible and data is cropped to just the run through the obstacle course, omitting getting the robot into the tank, fishing it out, etc.

Write a formula for peak acceleration of a robot from rest, calculate the predicted acceleration that formula makes, and compare that value to the peak acceleration observed in your measurements.

Effort Specification:

• Appropriate governing equation copied from E79 notes.
• Equation manipulated into a form that predicts peak acceleration from rest.

Complete Specification:

• Manipulated equation is fully correct and well explained.
• Annotation of the obstacle course acceleration plots show the measured peak acceleration from rest.
• Theoretical numbers for thrust extracted from E79 resources.
• Thrust and mass are used to predict theoretical peak acceleration.
• Comment on differences between theory and measurement.