July 19th 2000 at 3:00pm
with: Matt, Chanop, Chris, Peter,
Review minutes from last week.
Undergraduate project status.
New undergraduate projects.
Review Chanop's test outline.
Battery pack use.
Matt and Peter to prepare a work proposal for porting the Camera
Calibration software from Windows to VxWorks.
Chanop is currently using telnet to Kambara to get the control
state information. Chris suggests expanding the Operator Interface to
log the Telemetry Router messages at a faster rate to provide that
functionality. Sunil will describe the work required in the next day
Peter is still working on leak detection for the motor amplifier
Chanop will create a software interface spec for the Thruster
Controller in his header files. These comments will appear in the
project documentation HTML.
Peter has modified (as instructed by Chris) the PSU disable line
to have the correct state when power is applied to the system.
Undergraduate project status
Undergraduates to add their thesis to the /home/sub/public_pdf
directory and add an HTML link to them.
Peter and Jordan to prepare a work proposal for creating the State
Estimator software module. The pressure sensor input needs to be added to
the State Estimator.
New undergraduate projects
Terence's younger brother Justin is keen to continue working with
the State Estimator.
All new undergraduates will approach the SysEng project team
leaders for information.
Chanop's test outline
To be mailed to other team members when completed.
Battery pack use
Battery pack voltage should never drop below 20V. They could be
losing hydrogen during recharge which suggests that they have been
discharged too far.
Always turn off the PSU enable switch on the end cap when finished
to avoid discharging half of the batteries by using the 12V line to
keep the power relay closed unnecessarily.
New Action Items
Chanop to implement current limiting in software to avoid
amplifier and motor damage. 10Amp limit initially.
Sunil or Ben to modify the Operator Interface to accept the new
Telemetry Router message format.
Sunil to describe the OI change to make the Log button
Past Action Items - 12Jul00
Peter to modify the Pre-dive checklist with discussed changes.
Peter to create a shopping list for sub experiment in the pool.
Harley to acquire a battery voltmeter for each pack and attach the
12V PSU switch line to the second pack. Voltmeters bought.
Chanop to create a checklist and list of steps for the sub
experiment. To be mailed to submariners.
Chanop to create a software interface document detailing the
thruster control and status messages. Header file to contain the
Peter to ensure that the ethernet connection in the shed is
working. The current 100M switch port was not working. A new port is
now used. There is a danger that the connection to outside of the
building can become a lightning conductor. Optical isolation should
be investigated if the new port stops working.
Past Action Items - June00
Jordan to write instructions
for modifying and re-constructing his source code.
implement overflow detection in his MC68332 controller software.
Test the new leak fix in the bottom tube.
develop safety software to avoid damaging the motor circuitry.
Purchase vent for shed. Maybe the rust will beat us to it.
Paint new cart. Harley suggests using the air compressor and
spray gun at the farm.
Next Meeting: 1500 Wednesday, July 26th
Robotics Project at the ANU Robotic Systems Laboratory
By Peter Brown, <email@example.com>