ACS6501: Foundations of Robotics Week 2: Systems Modelling and Simulation Professor George Panoutsos, [email protected] Room B15, Amy Johnson Building (Dept. ACSE) Assignment weighting 35% of overall module mark. Assignment released End of Week 2. Assignment Due and Submission Instructions End of Week 6 (10 Nov.), by the end of the day (23.59). You must submit the completed assignment to the ACS6501 MOLE page, via Turnitin, as a single document. You must include your registration number at the top of every page. Your report should be word processed, using minimum size font 11, minimum 2.5cm margins all around, and maximum 8 sides of A4 paper in total. Penalties for Late Submission Late submissions will incur the usual penalties of a 5% reduction in the mark for every working day (or part thereof) that the assignment is late and a mark of zero for submission more than 5 working days late. For more information see http://www.shef.ac.uk/ssid/exams/policies. Feedback Within 2-3 weeks, following the submission deadline. The feedback will include the overall mark, individual component marks as well as written comments on performance on the assignment (electronic format). You will also have the opportunity for one-to-one feedback. General feedback on the whole class performance will also be provided via email and on MOLE. Note that final marks may be subject to change as a result of unfair means. Unfair Means The assignment must be completed individually. You must not discuss the assignment with other students and must not work together in completing the assignment. The assignment must be wholly your own work. References must be provided to any other work that is used as part of this assignment. Any suspicions of the use of unfair means will be investigated and may lead to penalties. See http://www.shef.ac.uk/ssid/exams/plagiarism for more information. Special Circumstances If you have medical or personal circumstances which cause you to be unable to submit this assignment on time or that may have affected your performance, please complete and submit a special circumstances form along with documentary evidence of the circumstances. See: http://www.shef.ac.uk/ssid/forms/special particularly noting point 6 (Medical Circumstances affecting Examinations/Assessment). Assignment Briefing This assignment/report will assess your fundamental understanding of systems modelling and simulation, including basic use of MATLAB/Simulink. The assignment is based on the content of Week 2, as part of module ACS6501. The assignment is divided into two parts: A) Basic concepts B) Advanced concepts. The expectation is for Part A to assess your understanding of the basic concepts in the module and associated learning objectives, while Part B is to challenge your understanding in more advanced topics. In your report you need to address all questions in each part, include your working methodology, the resulting Matlab/Simulink plots/diagrams, and brief discussion of the results. Help This assignment briefing, the lecture notes, and the laboratory handouts (all available on MOLE) provide all the information that is required to complete this assignment. It is not expected that you should need to ask further questions. Remember that you need to decide on what is the most appropriate approach to carry out the simulations and present your results. This is also part of what you are being assessed on and will assess your knowledge and understanding of the taught material for ACS6501. However, if you need clarifications on the assignment then please feel free to email me. Marking Criteria This this is the marksheet (below) that will be used to assess the assignment. The marksheet indicates the marks available for each part of the assignment and also indicates some of the factors that will be used in assessing the quality/correctness of your work. It is strongly recommended that you study this marksheet before completing the assignment. Assignment Task Marking Guideline Apportioned Mark Part A Task 1 This is a theory-related task, with some aspects of modelling. Marks will be awarded for demonstration of correct understanding of the topic and correct solution. 15% Task 2 This is a modelling-related task. Marks will be awarded for demonstration of correct understanding of the topic as well as correct final solution and working methodology. 30% Part B Task 1 This is a theory-related task, with some numerical work as well, marks will be awarded for demonstration of correct understanding of the topic 20% Task 2 This is a modelling/simulation task. Marks will be awarded for demonstration of correct understanding of the topic as well as correct final solution, working methodology, and related diagrams/figures. 30% Overall Report To assess your report writing skills, marks will be awarded for report structure, clarity of writing, use of figures/diagrams as well as references. 5% Total: 100% Please answer all questions in both parts A and B. Part A Task 1 Derive a linear approximation mathematical model of the pendulum system shown in Figure 1 to describe the relationship between the torque developed on the mass M and the angle theta between the rod and the vertical plane. State clearly your assumptions and your modelling methodology. Figure 1 Task 2 For the mechanical system (simplified car suspension) shown in Figure 2: a. Derive the mathematical model of the system in the time domain to describe the displacement associated with the three masses M1 (wheel), M2 (chassis) and M3 (car seat). b. Express the mathematical model of the system in the Laplace Domain Clearly state any assumptions you may make. Figure 2 Part B Task 1 What is a signal flow graph, and how does it compare against the block diagram representation? For the system modelled in Part A, Task 2 derive the signal flow graph (working methodology and diagram). Task 2 In this part of the assignment the aim is to study the behaviour of a dynamic system, via modelling and simulation methods. Using the module’s handout “Practical simulation experiments using SIMULINK”, complete the simulation exercise Positioning System and answer all relevant questions/tasks. For the simulation system, in your report you should include 1) A brief introduction to the system and its modelling. 2) your main results obtained (plots, outputs, tables of results etc.) – with justifications of work when necessary – from completing each task as in the lab sheet, and 3) a brief conclusion section that summarises the analysis of the system. – END OF ASSIGNMENT BRIEFING –
