ME_4451_Lab_8_Handout
.pdf
keyboard_arrow_up
School
Georgia Institute Of Technology *
*We aren’t endorsed by this school
Course
4451
Subject
Mechanical Engineering
Date
Jan 9, 2024
Type
Pages
5
Uploaded by AmbassadorFlowerBee38
ME 4451 Lab 8 Handout
Anirban Mazumdar, Divya Iyengar, Bryan Blaise
Fall 2023
1
Objectives
1. Execute a navigation task to a desired position/orientation using GPS and sensory
feedback.
2. Experiment with advanced path planning algorithms for a mobile robot.
2
Prelab Assignment
•
Please install the latest MATLAB version (R2022b or above).
•
Follow steps found in Section 3 to set up custom ROS messages on your MATLAB.
•
Thoroughly review lecture 25 (Mobile Robot Control).
3
Register ROS Custom Messages to MATLAB
Please implement the following in order to allow access to GPS functions.
These steps
must be performed with the updated Matlab version.
1. Download zip file ”matlab
msg
gen
ros1” from Lab 8 Canvas file.
2. Create a local folder, placing the zipped file inside.
DO NOT EXTRACT!
Figure 1: Create local file location for zipped file. NOTE THIS FILE PATH.
3. In your command window, run the command
rosRegisterMessages(’YOUR
NOTED
FILE
PATH’)
.
For example, referencing Figure 2, my function would be called as the following:
rosRegisterMessages(’C:
\
rosCustomMessages’)
.
1
Georgia Tech ME 4451 - Robotics
4. If step 3 is performed correctly, Matlab will prompt the following message in your
command window:
Figure 2: Prompted Instructions from Step 2.
Follow these remaining steps, verifying that you have correctly installed inputting
”rosmsg list” in the command window. If done correctly, the following will have output
to your command window (search alphabetically).
Figure 3: Correctly installed custom ROS messages for your use.
4
Mobile Robot Control - Navigation Using GPS
Your final objective will be to generate a program that executes a navigation task on the
robot.
You will implement a mobile robot control algorithm that takes in desired goal
poses/orientation as inputs (
X
G
, Y
G
, γ
G
), GPS and odometry data as feedback (to cal-
culate error), command linear/rotation velocities (
V
p
, ω
z
) for the turtlebot3, and present
2
Georgia Tech ME 4451 - Robotics
pose/orientation as outputs (
X
P
, Y
P
, θ
).
You will also have to compute gains (K matrix)
based on the error terms for this algorithm to work. The algorithm will generate a smooth
trajectory while simultaneously driving the errors to zero. Refer to lecture 25 on Canvas for
more details.
Figure 4: Diagram of the controller you will implement in this lab.
The robot will have to navigate from a starting point to an arbitrary end goal using
information from GPS. The turtlebot3s have been installed with ultrasound GPS beacons
and will provide you with
X
and
Y
positional data in meters. The rostopics you can use to
obtain these data are: ‘hedge
pos’, ‘hedge
pos
a’, and ‘hedge
pos
ang’. Create a subscriber
and a rosmessage to receive the data and take a look at what is inside to get a better
understanding. Keep in mind that since these beacons use ultrasound, stay out of the GPS
region as much as possible to reduce noise during operation. Here is the map of the room
that is covered by GPS:
3
Your preview ends here
Eager to read complete document? Join bartleby learn and gain access to the full version
- Access to all documents
- Unlimited textbook solutions
- 24/7 expert homework help
Related Questions
The following tools / resources may be useful for you to complete the assignment:a. Chatgpt (You may use it to learn Matlab coding or any other computer language. An example is given here: https://shareg.pt/mXHGne9 ). Please take note that code generated by chatgpt can be directly copied and pasted.b. Matlabi) Useful cheat sheet (https://n.ethz.ch/~marcokre/download/ML-CheatSheet.pdf)ii) Getting started with Matlab (https://matlabacademy.mathworks.com/en/details/gettingstarted )iii) Getting 30-day Matlab trial license (https://www.mathworks.com/campaigns/products/trials.html ) iv) Polyfit (https://www.mathworks.com/help/matlab/ref/polyfit.html )v) Exponential Fit (https://www.mathworks.com/matlabcentral/answers/91159-how-do-i-fit-an-exponential-curve-to-my-data)c. PlotDigitizer (https://plotdigitizer.sourceforge.net/ ) or a free online app that does not requires installation (https://plotdigitizer.com/app )You may use your own engineering judgement to make any assumptions on any…
arrow_forward
4. Documents business requirements use-case narratives.for only one process
note: please i want Documents like this in pic
arrow_forward
I want to run the SGP4 propagator for the ISS (ID = 25544) I got from spacetrack.org in MATLAB. I don't know where to get the inputs of the function. Where do I get the inFile and outFile that is mentioned in the following function.
% Purpose:
% This program shows how a Matlab program can call the Astrodynamic Standard libraries to propagate
% satellites to the requested time using SGP4 method.
%
% The program reads in user's input and output files. The program generates an
% ephemeris of position and velocity for each satellite read in. In addition, the program
% also generates other sets of orbital elements such as osculating Keplerian elements,
% mean Keplerian elements, latitude/longitude/height/pos, and nodal period/apogee/perigee/pos.
% Totally, the program prints results to five different output files.
%
%
% Usage: Sgp4Prop(inFile, outFile)
% inFile : File contains TLEs and 6P-Card (which controls start, stop times and step size)
% outFile : Base name for five output files
%…
arrow_forward
Please recheck and provide clear and complete step-by-step solution in scanned handwriting or computerized output thank you
arrow_forward
HW Matlab 1) Create a variable ftemp to store a temperature in degrees Fahrenheit (F). Write m-file to convert this to degrees Celsius and store the result in a variable ctemp. The conversion factor is C = (F —32) * 5/9. 2) Write m-file to generate a matrix of random integers of size 100 by 100 their values between 15 to 80. 3) Free fall of objects is given by y =5mgt? where a is the acceleration, v is the velocity, y is the distance, m is the mass of the object, g is the gravitational acceleration. Plot the distance and velocity of the object for 15 seconds after its fall from rest (y = 0). Take m = 0.2 kg.
arrow_forward
Look up the Arduino Mega 2560. Document the steps how to work with the Arduino in Matlab and Simulink. Make a simulink program turning on the LED on the board for 10sec. Explain your program, comment on your findings and explain how to test it on the actual hardware.
arrow_forward
Please do not copy other's work and do not use ChatGPT or Gpt4,i will be very very very appreciate!!!
Thanks a lot!!!!!
arrow_forward
solve with steps please
arrow_forward
Justine Ceñidoza JC
P Comments
O Find
S Replace
BbC AABBC AaBbCcD AaBbCcD AaBbCcD AaBbCcD AaBbCcDc AaBbCcD AaBbCcD
ding 2
Title
Subtitle
Subtle Em.. Emphasis
Intense E..
Strong
Quote
Intense Q..
Dictate
Editor
A Select -
Styles
Editing
Voice
Editor
Re
4
5 . I .
B. Solve the following problem using MATLAB. Write the syntax and the MATLAB output on the space provided.
1.
Peter withdrew 10000 pesos from his bank account today. He uses 5000 to fix his car. Then, he divides the
money into 5 equal parts and gave away 4 parts and kept 1 part for himself. He took his wife to the
restaurant and spent 600 pesos on meals. The remaining cash was divided among his 5 children for their
allowance. Write a numerical expression in MATLAB syntax to represent this situation and then find how
much money Peter has now?
arrow_forward
https://ethuto.cut.ac.za/webapps x
Content
Take Test: Main assessment link - x
ethuto.cut.ac.za/webapps/assessment/take/launch.jsp?course_assessment_id= 26832 1&course_id3_10885_1&content_id%3 625774 1&step3Dnull
Question Completion Status:
QUESTION 20
A single-stage, single-acting air compressor with runs at speed 600 rpm. It has a polytropic index of
1.26. The induced volume flow rate is 7.2 cubic meters per min and the air must be delivered at a
pressure of 668 kPa. The free air conditions are 101.3 kPa and 18 degrees Celsius. The clearance
volume is 6% of the stroke volume and the stroke/bore ratio is 1.6/1. Calculate the delivery air.
Hint answer usaully in C and no need for °C.
arrow_forward
immediately
arrow_forward
please in detaild
arrow_forward
You are a biomedical engineer working for a small orthopaedic firm that fabricates rectangular shaped fracture
fixation plates from titanium alloy (model = "Ti Fix-It") materials. A recent clinical report documents some problems with the plates
implanted into fractured limbs. Specifically, some plates have become permanently bent while patients are in rehab and doing partial
weight bearing activities.
Your boss asks you to review the technical report that was generated by the previous test engineer (whose job you now have!) and used to
verify the design. The brief report states the following... "Ti Fix-It plates were manufactured from Ti-6Al-4V (grade 5) and machined into
solid 150 mm long beams with a 4 mm thick and 15 mm wide cross section. Each Ti Fix-It plate was loaded in equilibrium in a 4-point bending
test (set-up configuration is provided in drawing below), with an applied load of 1000N. The maximum stress in this set-up was less than the
yield stress for the Ti-6Al-4V…
arrow_forward
Please recheck and provide clear and complete step-by-step solution/explanation in scanned handwriting or computerized output thank you
arrow_forward
Q2) Identify and briefly explain the selected icons by arrows from the following
toolboxes:
19.
18 t te te
2D Wireframe
Polysolid
to t t t 13, F Unsaveci View
Y
Box
Extrude
Presspull Smooth
11-1 World
Object
00
Mcdeling
Mesh
Coordinates
N
View
Solid Editing ->
#L4
EAAA 1:1/100% + DE
Rotate Trim
A
Text Dimension
Table Pr
Annotation
MODEL
7
Line Polyline Circle
Draw
9
Arc
Ⓒ.
14
Y
+Move
Copy A Mirror
Stretch Scale
Modify
Fillet -
Array Camps
arrow_forward
+ → CO
A student.masteryconnect.com/?iv%3D_n5SY3Pv5S17e01Piby
Gr 8 Sci Bench 1 GradeCam Rutherford TN 2021
AHMAD, ASHNA
D0
3 of 35
A student develops a model of an electric motor using two pins, a wire coil,
coil continues to spin with a certain speed.
wire coil
pins
magnet
tape
battery
How can the student increase the speed of the electric motor?
O by using wider pins
O by using thinner pins
O by using less wire in the clil
O by using more wire in the coil
e Type here to search
近
arrow_forward
Solve correctly
arrow_forward
.
arrow_forward
Esker on Demand- Customer X Chat Process Jobs In Hyderaba x
(Messages | Mynaukri
M Chegg Expert Hiring | Complet x
O Zoho Creator - Chegg Expert
experthiring.cheggindia.com/%23Form:Subject test?privateLink=bF53Pq3tqOdXDb6qq0PKbXBKnU6s212F4b2fdONuXXgZX2DTmgJz56EF3A79haQq4A..
Q
S Paused
Apps
State Bank of India...
Welcome to Esker o...
I Feet to Inches conv...
en Watch Super Hit Ful...
IRCTC Next Generat...
A TASHRM
A Time Tracker Time
Prime Video: Good...
Chin Expert Hr
saKANOLA
Subect Test
Determine the Sommerfeld number of a bearing whose clearance ratio is 600 and the
bearing load is 750 lbf . The length and radius of the given bearing is 1.75 in. and 0.75 in.
respectively. The viscosity of the oil inside the bearing is u=6 µreyn. The bearing is
rotating at a speed of 1800 rpm.
a) 0.28
b) 0.58
c) 0.23
d) 0.36
Activate Windows
Go to Settings to activate Windows.
453 PM
ヘ)み
OType here to search
THan-21
oms UP
...
arrow_forward
Scenario
You are assigned a role as a mechanical engineer for a vehicle design manufacturing company. Your
department has a software to perform numerical differentiation and integration. To be able to verify the
results of using the software and validate these results, your department manager has asked you to
analytically perform some tasks to validate the results generated by the software.
Q: is the last two digits of your student Id number. If your number is (20110092) then Q=92.
P: is the last digit of your student Id Number. If your number is (20110092) then P=2,
If that digit equals zero then use P=1. Example: If your number is (20110040) then P=1.
Task 1
Determine the gradient of following functions at the given points:
a) x(t) = (2t7 + P t-2)² + (6vi – 5) when t = 1
5s+7
b) v(s) =
when s = 3
(s²-P)2
c) i(t) = 5(1 – In(2t – 1) )
when t= 1 sec.
d) V(t) =5sin(100nt + 0.2) Volts , find i(t) = 10 × x10-6 dV©)
Ampere when t= 1ms.
dt
e) y(t) = e¬(t-n) sin(Qt + P)
when t = n radian
f)…
arrow_forward
2. There were 42 mangoes in each crate. 12 such crates of mangoes were delivered to a factory. 4 mangoes
were rotten and had to be thrown away. The remaining mangoes were packed into boxes of 10 mangoes
each. Write a numerical expression in MATLAB syntax to represent this situation and then find how many
boxes of mangoes were there?
OFocus
4:20 AM
28°C Mostly clear
3/26/2022
LG
CVENUENS
THANOS
BOBBLEHEAD
AMANLANTE A ON CABIA ANn
POCKET
YOP! AVENGES
KEYCHAIN
INFINITY WAR
Handy Fan
THANOS
BOBBLE HEAD
IGENA ERANLIA P COs CA AN
arrow_forward
Question 12 kana.Full explain this question and text typing work only We should answer our question within 2 hours takes more time then we will reduce Rating Dont ignore this line
arrow_forward
You are assigned as the head of the engineering team to work on selecting the right-sized blower that will go on your new line of hybrid vehicles.The fan circulates the warm air on the inside of the windshield to stop condensation of water vapor and allow for maximum visibility during wintertime (see images). You have been provided with some info. and are asked to pick from the bottom table, the right model number(s) that will satisfy the requirement. Your car is equipped with a fan blower setting that allow you to choose between speeds 0, 1,2 and 3. Variation of the convection heat transfer coefficient is dependent upon multiple factors, including the size and the blower configuration.You can only use the following parameters:
arrow_forward
Learning Goal:
To understand the concept of moment of a force and how to calculate it using a scalar
formulation.
The magnitude of the moment of a force with a magnitude F around a point O is defined
as follows:Mo = Fdwhere d is the force's moment arm. The moment arm is the
perpendicular distance from the axis at point O to the force's line of action.
Figure
F₁
1 of 2
Part A
A stool at a restaurant is anchored to the floor. When a customer is in the process of sitting down, a horizontal force with magnitude F₁ is exerted at the top of the stool support as shown in the figure. (Figure 1)
When the customer is seated, a vertical force with magnitude F2 is exerted on the stool support. If the maximum moment magnitude that the stool support can sustain about point A is M₁ = 140 lb-ft, what is the
maximum height do that the stool can have if the magnitudes of the two forces are F₁ = 65.0 lb and F₂ = 140 lb ? Assume that moments acting counterclockwise about point A are positive whereas…
arrow_forward
3. (Make a MatLab code) You have invested money in a bank account that
compounds annually. The interest rate is 6.4%. You want to know the balance of
the account after 5 years. Use an initial balance of $1000.
arrow_forward
pls help me to answer this questions
arrow_forward
SEE MORE QUESTIONS
Recommended textbooks for you
Elements Of Electromagnetics
Mechanical Engineering
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Oxford University Press
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:9780134319650
Author:Russell C. Hibbeler
Publisher:PEARSON
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:9781259822674
Author:Yunus A. Cengel Dr., Michael A. Boles
Publisher:McGraw-Hill Education
Control Systems Engineering
Mechanical Engineering
ISBN:9781118170519
Author:Norman S. Nise
Publisher:WILEY
Mechanics of Materials (MindTap Course List)
Mechanical Engineering
ISBN:9781337093347
Author:Barry J. Goodno, James M. Gere
Publisher:Cengage Learning
Engineering Mechanics: Statics
Mechanical Engineering
ISBN:9781118807330
Author:James L. Meriam, L. G. Kraige, J. N. Bolton
Publisher:WILEY
Related Questions
- The following tools / resources may be useful for you to complete the assignment:a. Chatgpt (You may use it to learn Matlab coding or any other computer language. An example is given here: https://shareg.pt/mXHGne9 ). Please take note that code generated by chatgpt can be directly copied and pasted.b. Matlabi) Useful cheat sheet (https://n.ethz.ch/~marcokre/download/ML-CheatSheet.pdf)ii) Getting started with Matlab (https://matlabacademy.mathworks.com/en/details/gettingstarted )iii) Getting 30-day Matlab trial license (https://www.mathworks.com/campaigns/products/trials.html ) iv) Polyfit (https://www.mathworks.com/help/matlab/ref/polyfit.html )v) Exponential Fit (https://www.mathworks.com/matlabcentral/answers/91159-how-do-i-fit-an-exponential-curve-to-my-data)c. PlotDigitizer (https://plotdigitizer.sourceforge.net/ ) or a free online app that does not requires installation (https://plotdigitizer.com/app )You may use your own engineering judgement to make any assumptions on any…arrow_forward4. Documents business requirements use-case narratives.for only one process note: please i want Documents like this in picarrow_forwardI want to run the SGP4 propagator for the ISS (ID = 25544) I got from spacetrack.org in MATLAB. I don't know where to get the inputs of the function. Where do I get the inFile and outFile that is mentioned in the following function. % Purpose: % This program shows how a Matlab program can call the Astrodynamic Standard libraries to propagate % satellites to the requested time using SGP4 method. % % The program reads in user's input and output files. The program generates an % ephemeris of position and velocity for each satellite read in. In addition, the program % also generates other sets of orbital elements such as osculating Keplerian elements, % mean Keplerian elements, latitude/longitude/height/pos, and nodal period/apogee/perigee/pos. % Totally, the program prints results to five different output files. % % % Usage: Sgp4Prop(inFile, outFile) % inFile : File contains TLEs and 6P-Card (which controls start, stop times and step size) % outFile : Base name for five output files %…arrow_forward
- Please recheck and provide clear and complete step-by-step solution in scanned handwriting or computerized output thank youarrow_forwardHW Matlab 1) Create a variable ftemp to store a temperature in degrees Fahrenheit (F). Write m-file to convert this to degrees Celsius and store the result in a variable ctemp. The conversion factor is C = (F —32) * 5/9. 2) Write m-file to generate a matrix of random integers of size 100 by 100 their values between 15 to 80. 3) Free fall of objects is given by y =5mgt? where a is the acceleration, v is the velocity, y is the distance, m is the mass of the object, g is the gravitational acceleration. Plot the distance and velocity of the object for 15 seconds after its fall from rest (y = 0). Take m = 0.2 kg.arrow_forwardLook up the Arduino Mega 2560. Document the steps how to work with the Arduino in Matlab and Simulink. Make a simulink program turning on the LED on the board for 10sec. Explain your program, comment on your findings and explain how to test it on the actual hardware.arrow_forward
- Please do not copy other's work and do not use ChatGPT or Gpt4,i will be very very very appreciate!!! Thanks a lot!!!!!arrow_forwardsolve with steps pleasearrow_forwardJustine Ceñidoza JC P Comments O Find S Replace BbC AABBC AaBbCcD AaBbCcD AaBbCcD AaBbCcD AaBbCcDc AaBbCcD AaBbCcD ding 2 Title Subtitle Subtle Em.. Emphasis Intense E.. Strong Quote Intense Q.. Dictate Editor A Select - Styles Editing Voice Editor Re 4 5 . I . B. Solve the following problem using MATLAB. Write the syntax and the MATLAB output on the space provided. 1. Peter withdrew 10000 pesos from his bank account today. He uses 5000 to fix his car. Then, he divides the money into 5 equal parts and gave away 4 parts and kept 1 part for himself. He took his wife to the restaurant and spent 600 pesos on meals. The remaining cash was divided among his 5 children for their allowance. Write a numerical expression in MATLAB syntax to represent this situation and then find how much money Peter has now?arrow_forward
- https://ethuto.cut.ac.za/webapps x Content Take Test: Main assessment link - x ethuto.cut.ac.za/webapps/assessment/take/launch.jsp?course_assessment_id= 26832 1&course_id3_10885_1&content_id%3 625774 1&step3Dnull Question Completion Status: QUESTION 20 A single-stage, single-acting air compressor with runs at speed 600 rpm. It has a polytropic index of 1.26. The induced volume flow rate is 7.2 cubic meters per min and the air must be delivered at a pressure of 668 kPa. The free air conditions are 101.3 kPa and 18 degrees Celsius. The clearance volume is 6% of the stroke volume and the stroke/bore ratio is 1.6/1. Calculate the delivery air. Hint answer usaully in C and no need for °C.arrow_forwardimmediatelyarrow_forwardplease in detaildarrow_forward
arrow_back_ios
SEE MORE QUESTIONS
arrow_forward_ios
Recommended textbooks for you
- Elements Of ElectromagneticsMechanical EngineeringISBN:9780190698614Author:Sadiku, Matthew N. O.Publisher:Oxford University PressMechanics of Materials (10th Edition)Mechanical EngineeringISBN:9780134319650Author:Russell C. HibbelerPublisher:PEARSONThermodynamics: An Engineering ApproachMechanical EngineeringISBN:9781259822674Author:Yunus A. Cengel Dr., Michael A. BolesPublisher:McGraw-Hill Education
- Control Systems EngineeringMechanical EngineeringISBN:9781118170519Author:Norman S. NisePublisher:WILEYMechanics of Materials (MindTap Course List)Mechanical EngineeringISBN:9781337093347Author:Barry J. Goodno, James M. GerePublisher:Cengage LearningEngineering Mechanics: StaticsMechanical EngineeringISBN:9781118807330Author:James L. Meriam, L. G. Kraige, J. N. BoltonPublisher:WILEY
Elements Of Electromagnetics
Mechanical Engineering
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Oxford University Press
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:9780134319650
Author:Russell C. Hibbeler
Publisher:PEARSON
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:9781259822674
Author:Yunus A. Cengel Dr., Michael A. Boles
Publisher:McGraw-Hill Education
Control Systems Engineering
Mechanical Engineering
ISBN:9781118170519
Author:Norman S. Nise
Publisher:WILEY
Mechanics of Materials (MindTap Course List)
Mechanical Engineering
ISBN:9781337093347
Author:Barry J. Goodno, James M. Gere
Publisher:Cengage Learning
Engineering Mechanics: Statics
Mechanical Engineering
ISBN:9781118807330
Author:James L. Meriam, L. G. Kraige, J. N. Bolton
Publisher:WILEY