MEASUREMENT, INSTRUMENTATION AND CONTROL

ME2400
ASSIGNMENT 2

GROUP NO. A120

ME15B049 P. MAHDAV
ME15B069 TAMBAT CHINMAY NITIN
ME15B114 RAJESH KURUVA
ME15B121 NILESH MEHRA
QUESTION 1)
CODE
close all
clear all

connector on connector;
m=mobiledev;
m.AccelerationSensorEnabled = 1

pause(2)

m.logging = 1

pause(10)

[acc, tacc] = accellog(m)

m.logging = 0

figure(1)
plot(tacc, acc)
xlabel('time')
ylabel('acceleration')
legend('x component','y component','z component')
a=mean(acc)
max=max(acc)
jerk=diff(acc);
figure(2)
plot(jerk)
legend('x component','y component','z component')
xlabel('time')
ylabel('jerk')
BASKETBALL ACCELERATION

BASKETBALL JERK

1) BASKETBALL JUMP

X-COMP Y-COMP Z-COMP

Mean = 1.1383 1.7310 9.3994
Max = 35.9869 39.7694 38.4641

TYPICAL DURATION= 1.7 sec

TIME FOR MAX. ACCL= 0.1 sec
TENNIS ACCELERATION

TENNIS JERK
2) TENNIS FOREHAND
X-COMP Y-COMP Z-COMP
Mean = 5.3772 3.0198 7.4594
Max = 20.6712 6.3008 38.4641
TYPICAL DURATION= 2.0 sec
TIME FOR MAX. ACCL= 0.2 sec

CRICKET ACCELERATION
CRICKET JERK

3) CRICKET BOWLING
X-COMP Y-COMP Z-COMP
Mean = 1.0134 -1.3621 9.8970
Max = 26.0969 10.7712 38.4641
TYPICAL DURATION= 2.9 sec
TIME FOR MAX. ACCL= 0.25 sec
QUESTION 2) ALL ANGLES ARE IN DEGREES
CODE
close all
clear all

connector on connector;
m=mobiledev;
m.OrientationSensorEnabled = 1

pause(2)

m.logging = 1

pause(20)

[o, to] = orientlog(m)

m.logging = 0

figure(1)
plot(to, o)
xlabel('time')
ylabel('angle in degrees')
legend('azimuth','pitch','roll')

x=o(:,1);
y=o(:,2);
z=o(:,3);

x=degtorad(x);
y=degtorad(y);
z=degtorad(z);
s=size(x);
num=s(1,1);
to=sqrt(2);

theta=linspace(0,2*pi);
phi=linspace(0,pi/2);
[theta1 phi1]=meshgrid(theta,phi);
r=1;
[a,b,c]=sph2cart(theta1,phi1,r);
figure;
surf(a,b,c)
shading interp
hold on

for n=1:num
a1=x(n,1);
b1=y(n,1);
c1=z(n,1);

r1=[cos(a1) sin(a1) 0; -sin(a1) cos(a1) 0; 0 0 1];

r2=[cos(b1) 0 -sin(b1); 0 1 0; sin(b1) 0 cos(b1)];
r3=[1 0 0; 0 cos(c1) sin(c1); 0 -sin(c1) cos(c1)];
 P1=[0 0 1];
Ar=P1*r1*r2*r3;
a=Ar(1,1);
b=Ar(1,2);
c=Ar(1,3);

scatter3(a,c,b,'k','filled','h');
axis equal;
hold on
end

[a,b,c]=sphere;
mesh(a,b,c)
hidden off;
THE ORINTATION WILL CHANGE AT THE MEAN VALUE OF TWO ORIENTATION
PORTRAIT TO LANDSCAPE
AZIMUTH= -105.7949 ROLL= -43.4892 PITCH= -31.9080

LANDSCAPE TO INVERTED PORTRAIT

AZIMUTH= 2.9431 ROLL= 41.3006 PITCH= -63.6876

INVERTED PORTRAIT TO INVERTED LANDSCAPE

AZIMUTH= 105.8570 ROLL= 44.3471 PITCH= 24.2285

INVERTED LANDSCAPE TO PORTRAIT

AZIMUTH= -1.261 ROLL= -39.9777 PITCH= 51.8658
QUESTION 3)
CODE
close all
clear all
clc

connector on connector
pause(5)
final = []; ini = [];
m=mobiledev
m.AngularVelocitySensorEnabled = 1
m.OrientationSensorEnabled = 1

m.logging = 1;
pause(10)
m.logging=0;
[av,tav]=angvellog(m);
[o,to]= orientlog(m);

o = o*pi/180.0;
final = o(length(to),1:3);
ini = o(1,1:3);

figure(1)
plot(tav,av)
xlabel('time')
ylabel('angular velocity')

figure(2)
plot(to,o)
xlabel('time')
ylabel('orientation')
legend('azimuth','roll','pitch')

%Error calculation
l=length(tav);
azx=[];pix=[];rox=[];
for i=1:l
azx(i)=o(3*i-2);
pix(i)=o(3*i-1);
rox(i)=o(3*i);
end
azy = trapz(azx,tav);
piy = trapz(pix,tav);
roy = trapz(rox,tav);
az_error = azy-(final(1)-ini(1));
pi_error = piy-(final(1)-ini(1));
ro_error = roy-(final(1)-ini(1));
fprintf('Error in angles,in radians,are [%f,%f,%f]\n',
az_error,pi_error,ro_error);
ANGULAR VELOCITY (Radian/sec)

ORIENTATION

Error in angles, in radians, are [2.027299,1.857810,2.150787]

QUESTION 4)
CODE
connector on connector
pause (10)
m=mobiledev

m.AccelerationSensorEnabled=1
m.logging=1
m.sampleRate
m.logging=0
m.AccelerationSensorEnabled=0
pause(10)

m.AngularVelocitySensorEnabled=1
m.logging=1
m.sampleRate
m.logging=0
m.AngularVelocitySensorEnabled=0
pause(10)

m.MagneticSensorEnabled=1
m.logging=1
m.sampleRate
m.logging=0
m.MagneticSensorEnabled=0
pause(10)

m.OrientationSensorEnabled=1
m.logging=1
m.sampleRate
m.logging=0
m.OrientationSensorEnabled=0
pause(10)

m.PositionSensorEnabled=1
m.logging=1
m.sampleRate
m.logging=0
m.PositionSensorEnabled=0
pause(10)

SAMPLING FREQUENCIES FOR SENSORS

ACCELERATION SENSOR = 10 Hz
ANGULAR VELOCITY SENSOR = 10 Hz
MAGNETIC SENSOR = 10 Hz
ORIENTATION SENSOR = 10 Hz
POSITION SENSOR = 10 Hz

RESOLUTION
ACCELERATION SENSOR= 0.002 m/sq.sec
ANGULAR VELOCITY SENSOR = 0.001 rad/sec
MAGNETIC SENSOR = 0.301 microT
QUESTION 5)

GRAY CODE

n=input('Enter the number of bits: ');

x = [0; 1];

for a=1:(n-1)

k=2^a;
y=flipud(x);
z=zeros(k,1);
o=ones(k,1);

at=[z,x];
bt=[o,y];

x=[xt;yt];

continue

end

disp(x);