Task
Complete the Week 9 lab: track
trajectories.figure_eight() with
velocity/acceleration feedforward added to your cascade, report tracking RMSE,
then repeat under a 0.5 N wind disturbance.
The Week 9 lab sheet walks through the build step by step —
this page defines what you hand in and how it is graded.
What to submit (one zip)
wk9_trajectory.py— tracking run + RMSE computationwk9_tracking.png— reference vs flown path (top view) + RMSE in the title- Report (PDF, ≤ 3 pages): with/without feedforward comparison, the wind result, and 5–10 lines on what limitation this reveals (this feeds your team case study)
Pass bar — expected results
- No wind: RMSE < 0.1 m (reference implementation reaches ≈ 0.037 m)
- With 0.5 N wind: RMSE degrades (≈ 0.5 m scale) — expected, and worth discussing
- Runs via
PYTHONPATH=. python examples/03_figure8.py --plot(your version)
Assessment criteria
| Criterion | Weight | What earns full marks |
|---|---|---|
| Results & verification | 40% | The pass-bar numbers are met and reproduced by re-running your code from a clean checkout. Partial credit tracks how close you get and whether failures are honestly reported. |
| Code correctness & quality | 25% | Your own implementation (not the reference copied back); runs without edits; readable structure and naming; no dead code. |
| Report: plots & numbers | 20% | Requested plots present, axes labelled, units shown; the key numbers stated in text, not left inside figures. |
| Discussion & insight | 15% | Interpretation goes beyond restating outputs — connects the result to the theory taught that week. |
| Total | 100% | = 5% of the course grade |
Lab-specific checks on top of the rubric:
- Feedforward demonstrably helps (with/without shown on the same axes)
- The limitation discussion is concrete — it names what the classical stack cannot do
Rules
- Individual work. Discussing ideas is encouraged; code and report must be written by you. Identical code or text is treated under the University’s academic-integrity rules.
- AI assistants (ChatGPT, Copilot, …) may be used as a tool, with two conditions: declare the use in your report (one line is enough), and be able to explain every line you submit — you may be asked to, in person.
- Late submission: −20% per day, not accepted after 3 days. One free 48-hour extension per student per semester — ask before the deadline.
- Re-runs. We grade by re-running your code (
PYTHONPATH=. python …on a clean copy of the course simulator plus your files). “Works on my machine” without reproducibility loses the results marks.
📤 Submit via the MUST LMS
What
the zip described above
Filename
MLTE03_Wk9_<studentID>.zipWhere
MUST LMS → MLTE03 → Week 9 Lab dropbox LMS link — TO FILL
Deadline
date / time — TO FILL (before Week 10)