[INSTRM-1511] Debugging the bad converging issue on test bench Created: 23/Jan/22  Updated: 25/Jan/22  Resolved: 25/Jan/22

Status: Done
Project: Instrument control development
Component/s: None
Affects Version/s: None
Fix Version/s: None

Type: Task Priority: Normal
Reporter: chyan Assignee: chyan
Resolution: Done Votes: 0
Labels: None
Remaining Estimate: Not Specified
Time Spent: Not Specified
Original Estimate: Not Specified

Attachments: PNG File Figure 1-2.png     PNG File Figure 1-3.png     PNG File Figure 1-4.png    

 Description   

We are trying dot-crossing algorithm on bench from Jan 22. However, we encountered problem that the convergence result seems to be very very bad after some software update. Need to investigating the root cause.

 Comments   
Comment by chyan [ 24/Jan/22 ]

Ok, there are few issues here.

  • First, the centroid algorithm was optimized for real MCS spots. When using 71M, the current settings are not suitable for 71M spots. The current MCS optimizations could not detect all 71M spots.
  • The pfs_utils 6.1.2 and 6.1.4 are different when transferring spot from pixel to mm. In the plot, we asked cobra to be at home position. As we can see, both versions give different results.
  • Using createTrajectory in convergence loop creates funny results. The convergence number increased from ~16 to ~50, two times more. Also, it impacts the convergence speed. This is the convergence without createTrajectory:

    This is with createTrajectory
Comment by chyan [ 25/Jan/22 ]

After talking to Chih-Yi, we fixed the bug when using createTrajectory. The simulation mode still change the cobra informations. Therefore, one should set the cobra arms to their current location after getting predicted locations from simulator.

Comment by chyan [ 25/Jan/22 ]

Since this issue is solved, I am closing this ticket and create related tickets for related issues.

Generated at Sat Feb 10 16:36:20 JST 2024 using Jira 8.3.4#803005-sha1:1f96e09b3c60279a408a2ae47be3c745f571388b.