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Karthik Nayak daily progress report

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Karthik Nayak edited this page Jul 7, 2018 · 5 revisions

Date : 24 May 2018 (Day 1)

Date : 25 May 2018 (Day 2)

  • Got familiar with ROS Topics like rqt_graph, rostopic and the various commands associated with it.
  • Understood the overall flow of information in an ROS environment and to extract the information relevant for our study and analysis.
  • Started with task 0 of Chaser Drone.

Date : 26 May 2018 (Day 3)

  • Completed task 0 of chaser drone.
  • Understood how whycon for efficient marker based localisation.
  • Started task_1 of Chaser Drone.
  • Understood how to carry out remapping in .launch file.
  • Went through the details of Pluto Drone.

Date : 28 May 2018 (Day 4)

Date : 29 May 2018 (Day 5)

  • Started task_1_2 of chaser drone.
  • Simulated hit and error method of PID tuning for localisation of AR Drone on Gazebo.
  • Started working on Ziegler-Nichols method of PID tuning.

Date : 30 May 2018 (Day 6)

  • Got the pluto drone. *Installed the necessary packages required to fly the pluto drone.
  • Camera calibration and hardware testing of drone

Date : 31 May 2018 (Day 7)

  • Started coding to implement localisation of a drone at a given point.

Date : 1 June 2018 - 5 June 2018 (Day 8,9,10,11,12)

  • Faced lot of Hardware related problems, spent time in trying to rectify it. --

Date : 6 June 2018 (Day 13)

  • Prepared the progress presentation 1 ppt.
  • Were able to make the pluto drone fly.

Date : 7 June 2018 (Day 14)

  • Briefed the gathering at progress presentation-1 of our progress.
  • Achieved localisation of Pluto X drone using hit and try PID

Date : 8 June 2018 (Day 15)

  • Started working on designing a better PD architecture.
  • Successful in stabilizing the drone.
  • Discovered there existed steady state error

Date : 9 June 2018 (Day 16)

  • Started designing a PID architecture.
  • Faced lot of challenges in handling the KI constant.

Date : 11 June 2018 (Day 17)

  • Partly successful in designing a complete PID.
  • Started with the concept of auto-tuning.
  • Referred various research papers for the concept of auto-tuninng.

Date : 12 June 2018 (Day 18)

  • Selected Ziegler-Nichols based approach of auto-tuning.
  • Started coding to implement the algorithm.
  • Hit a roadblock , decided to slightly modify the approach.

Date : 13 June 2018 (Day 19)

  • Referred aurduino pid autotuning library.
  • Wrote a code to implement the same.
  • Tested it on Pluto X Drone.
  • Got positive results.

Date : 14 June 2018 (Day 20)

  • Improved the auto-tuning code.
  • Tested the consistency of the outputs.
  • Results were encouraging.

Date : 15 June 2018 (Day 21)

  • Combined the auto-tuning concept and PID logic to generate the entire structure of the project.
  • Tested it on Pluto X.
  • Results were good.

Date : 16 June 2018 (Day 22)

  • Found some flaws in the PID logic.
  • Understood the use of KI in discarding the steady state error.
  • Implemented an improved PID.
  • Results were much better than previous versions.

Date : 18 June 2018 (Day 23)

  • Simulated the entire auto-tuning and PID logic on AR-Drone in Gazebo.
  • Successfully simulated wavepoint navigation.
  • Attended the workshop on innovative and creative thinking .

Date : 19 - 21 June 2018 (Day 24, 25, 26)

  • Started coding, to implement auto-tuning on Pluto drone.

Date : 22 June 2018 (Day 27)

  • Successfully implemented auto-tuning of PID for position holding of pluto drone.
  • Briefed the gathering about are progress.(Progress presentation -2)

Date : 23-25 June 2018 (Day 28, 29)

  • Optimisation of code for better results.
  • Worked on the algorithm to get better and consistent results.

Date : 26 June 2018 (Day 30)

  • Extended the code for waypoint navigation.

Date : 27-29 June 2018 (Day 31, 32, 33)

  • The coding was complete.
  • Started testing of the code for various scenarios.
  • Improved the code whenever it failed certain conditions.

Date : 30 June 2018 (Day 34)

  • Visited Naval Dockyard, Mumbai.
  • Got to know how the Indian Navy works.
  • Understood the importance of defence forces.
  • Got aware of requirement of new and innovative automation in the dockyard.

Date : 1 July 2018 (Day 35)

  • Started documentation.

Date : 2 July 2018 (Day 36)

  • Started taking output graphs required for documentation

Date : 3 July 2018 (Day 37)

  • Continued documentation.
  • Tested a few drones, so that we wont be short of functional drones on the day of demo (exhibition)

Date : 4 July 2018 (Day 38)

  • Reported my documentation and progress to my mentor for his inputs.
  • Created a ROS package for testing of magnetometer.
  • Got geared up for the e-YSIP 2018 Project Exhibition.

Date : 5 July 2018 (Day 39)

  • Demonstrated our project to all the guests who visited our stall.
  • Took the feedback of the guests for further improvement.

Date : 6 July 2018 (Day 40)

  • Competed documentation.
  • Got clearance certificate from mentor.
  • Official closing of e-YSIP 2018

Date : 7 July 2018 (Day 41)

  • Worked from home
  • Updated github repo with all the packages used in the project.

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