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6.01, Spring Semester, 2008—Exploration 6, Issued: Thursday, Mar. 13 1MASSACHVSETTS INSTITVTE OF TECHNOLOGYDepartment of Electrical Engineering and Computer Science6.01—Introduction to EECS ISpring Semester, 2008Exploration 6, Issued: Thursday, Mar. 13Due Tuesday or Wednesday April 8 or 9Exploration: Delays and SoundDelaysThis part of the exploration is worth 4 points.In the design lab we found that the gains we got by minimizing the maximum pole magnitudes weregenerally much too large. Using those gains led to “jittery” behavior of the robot. One reason forthis is that the large gains amplify small errors. However, another important problem is that thereal robot system has additional delays that are not included in our model. These delays are badbecause it means that the controller is basing decisions on out-dated data. Our system functionanalysis should be able to cope with these delays and give us gains that produce good behavior butonly if we include the delays in the model.Exploration 1: Investigate where to put additional delays into the new position controllermodel, the one that uses K1e[n] + K2e[n − 1]. Are there additional delays that lead togains more like the ones you found to be good in lab?Exploration 2: How might these delays arise in the real system? Describe.SonarsThis part of the exploration is worth 6 points.We have been using optical sensors for our controller experiments because they are somewhat morereliable than the sonars, which tend to not get return signals unless the sonar beam is nearlyperpendicular to the surface. However, with a little care, it is possible to use the sonars to followhallways covered with bubble wrap.6.01, Spring Semester, 2008—Exploration 6, Issued: Thursday, Mar. 13 2Exploration 3: Write a program to use the two leftmost sonar sensors to estimate distance tothe left wall and the two rightmost sensors to estimate distance to the right wall. That is,emulate the getLR function in the lab. Recall that the robots will return some maximumvalue (often 5.0, but this varies per robot) if they don’t detect a return signal. You shouldmake your program be robust to these failures, return your best estimate, even if not a goodone, when one or more of the sonars does not get a return (returns its maximum reading)Exploration 4: Extend your program so that it also calculates the angle of the robot relativeto the hallway center line. That is, emulate the getLRT function in the lab.Exploration 5: Debug your programs in SoaR. The she.py world in the SoaR distribution hassome good hallways.Exploration 6: Compare the behavior of your controllers from lab 6 using the sonar sensors tothe behavior using the optical sensors. Look especially at what happens when the robot issharply misaligned in the hallway. Make plots of the robot behavior. You should do this onthe real robot. The robots are available during the TA office


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MIT 6 01 - Delays and Sound

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