Thursday, February 5, 2009

Weekly Report 02/05:

  • Maple is reinstalled
  • Reserved for diversity workshop on March 5th, Thursday
  • Interval analysis:
  1. Checked with Maple: Code for Original and Stable A matrices matches with the one in the section ->My DH parameters of 3-cable
  2. Stuck with one term in the J matrix
  • Presentation updated:
  1. Updated slides according to the interval analysis paper
  2. Added the A-matrix original and stable matrices
  3. Added plots for all the parts of the code done till today
  4. New section for limiting case analysis, and Forward error analysis
  • Thesis item: Not started yet
  • Paper:
  1. Need to reformat with more details about the limiting case analysis, as one more tool. what about the results of limiting case analysis. Do I need to add any of the plots from the old paper?
  2. As the paper still had old versions of matrices, those need to be replaced with the new ones from Maple. Need to ask Dr. Jones for a way to copy those from Maple to word document
  3. Do we need a new section for multi-section? We had multi-section kinematics done for the A-matrix for both actuator parameters and cable lengths, but not for J matrix.

Thursday, January 22, 2009

Weekly Report 01/22:

  • Emailed Mr.Chapman for workshop schedule.
  • Started working on the presentation.Postponed to next week
  • Paper: Started
    limiting-case analysis: Stuck with one term in the J matrix Thesis item: Not started yet

Wednesday, January 14, 2009

Weekly Report 01/13

To Do
  • Read paper on plagarism written by Dr.Fowler
  • Check the schedules for the workshop and fill the time table on wiki with your session timings
  • Presentation on Interval analysis on next thursday
  • Start working on the interval analysis paper ASAP.
  • Weekly meeting 2:00 PM every Thursday
  • Personal Meeting 4:00 PM every Thursday, starting this week

Monday, December 1, 2008

Weekly Report 12/01

  • Completed DIS final report with figures
  • Mailed the report to every one in the team to review
  • Prepared for presentation- Topic-> Interval analysis - divided in to two parts - One up to the results of A-matrix(Tues Dec 02), and other will cover remaining(Thur Dec 04)
  • Currently I am following every one in the group
  • Added link to this blog from wiki
  • Updated the status column of the report
  • Need to start working on the Interval analysis paper
  • Come up with a solution to the term(3,2) in the Jacobian that is causing error because of catastrophic cancellation
  • Remind Dr.Younan about the bread boards for micro lab
  • Work on word template for the thesis that Ricky already started.
  • Get new I-9 form (waiting for new I-20).

Tuesday, November 18, 2008

Weekly Report 11/13-11/18

  • Started working on DIS project - First draft due on Thursday.
  • Limiting Case analysis Results
  1. Status: As k->0 Original J matrix and Stable J matrix are consistent up to some point.Original J matrix screws up at 1e -08. Stable J matrix screws up at 1e -158. At k=0 both cases fail.
  2. Problem: As k->0, stable J is expected to produce consistent results.
At k=0, stable J is still expected to be stable.

Cause: There is some error in one of the terms of J-matrix that doesn't cancel out.
Solution: I had put an if statement to check for k< 1e-158 and replace with some k=1e-150, and this allows the trunk to move smoothly for all the values of k.
But still need to think of the error(computed using interval analysis and plotted in Matlab), which remains the same as before.