Derek: 2007 06 03 (Update)


This is an update report on what had been done and the results for report written dated 3 Jun 07, i.e. the calibration of the terrain.

Dynamic vs Fixed Radius

1. Propose using dynamic radius for the terrain, i.e. at height 70, the radius affected is larger than when the height is say 50. I have found out that the dynamic radius models the actual terrain more accurately than the one using the fixed radius method.

2. Algorithm:

a. For each point on the terrain, I check if it lies within the radius of the actuator.

b. Find the distance from the point on the terrain to the centre of the actuator.

c. Test if the distance is less than the (height of actuator * radiusFactor), where radiusFactor is a constant.

d. From observation, I have observed that 9 units on the virtual terrain corresponds to approx. 30 units on the actual terrain, hence using the Circles Algorithm, I have calculated the optimal radiusFactor to be 9 / 30 = 0.3.

Adjacent Actuators

1. At certain configuration of the actual terrain, we have instances when adjacent actuators do not affect the current actuator.

2. Algorithm:

a. Used a selection case

b. For each point on the terrain, I test if the new height is lower than the existing height, I do not display the new height.

3. The terrain has been successfully calibrated and I will integrate the robotic xyz arm with the system.


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