See also TractionControlArm, TractionController
Hopefully one will clean it up, this info was just going down the drain...
- got almost all the high level logic stuff done
- starting to tie hardware + high level together
<blundar> I should probably have some more interesting stuff to post / share / etc. on 2004-09-27
- tractionboard = one of the "peripheral" ARM boards repsonsible for traction control through monitoring VR wheelsensors
- I went all out with the code
<blundar> i.e. analysis of variance
- has calibration procedure
- normalizes wheelspeeds to account for minor variances from VR sensors so you can even use different types of VR sensors and it will deal
- computes variance during calibration
- then it basically examines the wheelspeeds during normal operation
- uses the normalized values from calibration to normalize each sensor reading
- then does a weighted ANOVA
- and the weighting basically determines how sensitive it is
<blundar> reference is determined during calibration
- I'm figuring on having a button or something to push to signal calibration
- calibration procedure = drive straight with cruise control on or otherwise at a constant speed
- it measures 256 samples
- takes average, variance of each sensor
- to get an idea of how "noisy" they are
- then the ANOVA makes meaningful statistical comparisons of sample data vs calibration data
- the ARM has *plenty* of horsepower
- I figured doing proper statistics would be a good way to use it
What gear?
- Are you planing for use in every gear?
- it shouldn't matter which gear you're in
- for calibration at least
- It shouldn't know what gear you're in, should it?
- it shouldn't matter
- it's purely using wheelspeeds, 4 VR sensors
- slippage will be clearly manifested by 2 wheels fast than others
<blundar> tilt sensors :)
- seriously, it has two, 2-axis tilt sensors
- you bring up a very good point tho - I hadn't thought of the RWD tires lift scenario yet
calibration
I was thinking about the calibration process. I believe it is possible to make it without an explicite button from the user:
When we collect the wheelspeed ratios of the 4 wheels to histograms, the peak of the histogram should be the no-spin - a good reference.
offtopic - no names - will be deleted
working for the nation's largest private provider of healthcare services to the military: I'm also strongly against military but I wouldn't feel anything bad about running computers for a hospital - even if it was for the troops.
"I think that any country has a right to protect whatever its interests may be" - yes, as long as it's not invading other countries ( we know what happened when Hitler decided to protect Germany's interests :-( ), or it does not commit terrorist acts (like the Nagasaki bomb: the Hiroshima bomb could be argued to be a justified act of war needed to save lives elsewhere by proving the power, the 2nd bomb was clearly the biggest terrorist act ever - appr. 30 WTC ). Anything regarding international affairs should be settled with the consent of EU - anything else endangers world safety rather than making the world a safer place.