HW5 - SSM Computation

Your task is to compute the separation distance Sp at time t0. You are given a plot of velocities and a plot of distances for robot and human.

Each student has a unique assignment, which can be found in BRUTE. To see the assignment, click on “your input data” in HW5 in BRUTE.

(See assignment on BRUTE for better formatting)

Using the plots, you can extract:

• times
  • t0 when safety system detects a problem
  • tR reaction time of the robot and safety system
  • tS stopping time of the robot
• velocities
  • vh constant velocity of the human
  • vr constant velocity of the robot up to time to
  • vR constant velocity of the robot during reaction delay
  • vS velocity of the robot during stopping (not constant!)
• distance Ssafe, which is a combination of C, Zd and Zr

Using the extracted values, compute distances:

• Sstart distance at time 0
• Sreaction distance at time t0 + tR
• Sr distance the robot travels between time t0 and (t0 + tR)
• Ss distance the robot travels between time (t0 + tR) and (t0 + tR + tS)
• Sh distance the human travels between time t0 and (t0 + tR + tS)
• Sp the separation distance at time to

• submit a clearly written PDF document
  • you can use whatever tool or scan your handwritten text
  • if handwritten, it must be easily readable
  • the document must be easy to read and understand
  • 0 points will be given if any these requirements are not met
• include your plots on the first page
• the PDF must contain values for ALL variables mentioned in this document
  • not only the ones you compute but even the ones you can extract from the plots
• all computations must be written with sufficient detail
  • e.g., writing Sr = 5cm is not enough, and you should include how the value is computed
  • values without computation will not be accepted, and points will be deducted
• include correct units for each value