diff --git a/electives/others/amr/assets/dc-motor.png b/electives/others/amr/assets/dc-motor.png new file mode 100644 index 0000000..6203865 Binary files /dev/null and b/electives/others/amr/assets/dc-motor.png differ diff --git a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf index d8ac866..b47662a 100644 Binary files a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf and b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf differ diff --git a/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex b/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex index 8073a41..b8c59e5 100644 --- a/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex +++ b/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex @@ -9,6 +9,7 @@ \setFontType{sans} \renewcommand{\subsectionnumbering}{section} +\renewcommand{\numberingpreset}{off} \noverticalspacing \fboxsep 1pt \fboxrule 0.1pt @@ -51,5 +52,10 @@ \input{parts/01_kinematics/06_wheeled-robot.tex} % \input{parts/01_kinematics/} +\section{Sensors \& Actuators} +\input{parts/02_Sensors-Actuators/00_intro.tex} +\input{parts/02_Sensors-Actuators/01_gps.tex} +\input{parts/02_Sensors-Actuators/02_actuators.tex} +% \input{parts/02_Sensors-Actuators/} \end{document} diff --git a/electives/others/amr/parts/01_kinematics/04_rigid-body-imu-kinematics.tex b/electives/others/amr/parts/01_kinematics/04_rigid-body-imu-kinematics.tex index e002bc5..fc52894 100644 --- a/electives/others/amr/parts/01_kinematics/04_rigid-body-imu-kinematics.tex +++ b/electives/others/amr/parts/01_kinematics/04_rigid-body-imu-kinematics.tex @@ -46,5 +46,5 @@ $\displaystyle \vec{\dot{q}}_{WS} = \frac{1}{2} \vec{q}_{WS} \otimes where {\color{gray} gray parts} only IRL (in theor. models, leave out), with $\vec{\dot{b}}_g = \vec{w}_{b_g}$ and $\vec{\dot{b}}_a = \vec{w}_{b_a}$ \bi{IMU Sensor Model}: $\vec{\tilde{z}} = \vec{b}_C + s\mat{M}\vec{z} + \vec{b} + \vec{n} + \vec{o}$ -where bias $\vec{b}$ and scale $s$ often modled as time-varying state $\dot{b}(t) = \sigma_C n(t)$. -$\vec{b}_C$ const. calib. and $\vec{n}$ the model. +where bias $\vec{b}$ and scale $s$ often modelled time-varying $\dot{b}(t) = \sigma_C n(t)$. +$\vec{b}_C$ const. calib; $\mat{M}$ Misalignment; $\vec{n}$ noise; $\vec{o}$ other infl. diff --git a/electives/others/amr/parts/01_kinematics/06_wheeled-robot.tex b/electives/others/amr/parts/01_kinematics/06_wheeled-robot.tex index ac5ee1d..dae17d3 100644 --- a/electives/others/amr/parts/01_kinematics/06_wheeled-robot.tex +++ b/electives/others/amr/parts/01_kinematics/06_wheeled-robot.tex @@ -40,6 +40,7 @@ \bi{Gen. eq. of Motion} $\dot{x}_1 = v\cos(\theta)$, $\dot{x}_2 = v\sin(\theta)$, $\dot{\theta} = \Omega$, with $v = 0.5\cdot(\omega_l r_l + \omega_r + r_r)$, $\Omega = \frac{\omega_r r_r - \omega_l r_l}{w}$ +% TODO: Consider adding wheel constraints (planar) here as well (from W05 slides) \textit{Straight}: $v = \omega_l r_l = \omega_r r_r$, $\Omega = 0$, $D = v\Delta t$.\\ $\vec{b}_s = \begin{bmatrix} D \cos(\theta) \\ diff --git a/electives/others/amr/parts/02_Sensors-Actuators/00_intro.tex b/electives/others/amr/parts/02_Sensors-Actuators/00_intro.tex new file mode 100644 index 0000000..f4d31ca --- /dev/null +++ b/electives/others/amr/parts/02_Sensors-Actuators/00_intro.tex @@ -0,0 +1,6 @@ +\bi{Meas. Model}: $\vec{z} = \vec{h}(\vec{x}) + \vec{v} + \vec{o}$, with $\vec{h}(\vec{x})$ deterministic mean, +$\vec{v}$ zero-mean noise, $\vec{o}$ unmodelled effects, $\vec{x}$ true state + +\bi{Motor encoders} Typ. 64-2048 incrm. per rev; Estim. rot + +\bi{Rolling-Shutter} Most CMOS sensors don't take full image at once, need time stamp for each row diff --git a/electives/others/amr/parts/02_Sensors-Actuators/01_gps.tex b/electives/others/amr/parts/02_Sensors-Actuators/01_gps.tex new file mode 100644 index 0000000..45ba472 --- /dev/null +++ b/electives/others/amr/parts/02_Sensors-Actuators/01_gps.tex @@ -0,0 +1,7 @@ +\subsection{GNSS} +Need ultra-precise time sync ($c \approx 0.3\; m/ns$). \bi{Errors} +\begin{itemize} + \item Multipath problem (signal bounce) (0.5 - 100m) + \item Ionosphere delays (10m) + \item Satellite pos. err, trop. delay (1m) +\end{itemize} diff --git a/electives/others/amr/parts/02_Sensors-Actuators/02_actuators.tex b/electives/others/amr/parts/02_Sensors-Actuators/02_actuators.tex new file mode 100644 index 0000000..bd7e7ba --- /dev/null +++ b/electives/others/amr/parts/02_Sensors-Actuators/02_actuators.tex @@ -0,0 +1,17 @@ +\subsection{Actuators} +\bi{Hydraulic} {\color{ForestGreen} acc., easy control, power}; {\color{red} maint., speed, price} + +\bi{Pneumatic} {\color{ForestGreen} price, shock abs., speed}; {\color{red} acc., loud, maint.} + +\subsubsection{DC Motor} +\begin{wrapfigure}[4]{r}{0.32\columnwidth} + \includegraphics[width=0.32\columnwidth]{assets/dc-motor.png} +\end{wrapfigure} +(Kirchoff) $U_a = L_a \dot{I_a} + R_a I_a + U_i$ + +(Torque, Lorenz Force) $T = k_T I_a$ + +(Induced V, Faraday) $U_i = k_i \omega$ + +(Mech. pow. eq. el. pow)\\ +$U_i I_a = k_i \omega I_a = T_\omega = k_T I_a \omega \Rightarrow k_i = k_T =: k$