From 798f6cca32fcccaabadfcdce8499286f2eab4f0a Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 11:45:53 +0100 Subject: [PATCH 1/8] Export classes and functions from uuv_mission for notebooks --- uuv_mission/__init__.py | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/uuv_mission/__init__.py b/uuv_mission/__init__.py index e69de29b..d3e7cf10 100644 --- a/uuv_mission/__init__.py +++ b/uuv_mission/__init__.py @@ -0,0 +1,24 @@ +# from dynamic.py import classes +from .dynamic import Submarine, Trajectory, Mission, ClosedLoop + +# from terrain.py import functions +from .terrain import ( + generate_random_multisine_timeseries, + generate_reference_and_limits, + plot_reference_and_terrain, + write_mission_to_csv +) + +__all__ = [ + # from dynamic.py + 'Submarine', + 'Trajectory', + 'Mission', + 'ClosedLoop', + + #from terrain.py + 'generate_random_multisine_timeseries', + 'generate_reference_and_limits', + 'plot_reference_and_terrain', + 'write_mission_to_csv' +] \ No newline at end of file From 9c527ad299e75f33a26eab4fa6d9d43686b846a5 Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 12:47:40 +0100 Subject: [PATCH 2/8] Set env to automatically recognize the same project path --- .env | 1 + 1 file changed, 1 insertion(+) create mode 100644 .env diff --git a/.env b/.env new file mode 100644 index 00000000..f70c0967 --- /dev/null +++ b/.env @@ -0,0 +1 @@ +PYTHONPATH=D:/3rd/B1_Sientific_coding_Jiayi_Yang/b1-coding-practical-mt24;${PYTHONPATH} From b2796597d63f3eafcc89efcd8ee47ea0922695bf Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 13:51:30 +0100 Subject: [PATCH 3/8] Added a method that returns an instance of the Mission class by extracting data from the mission.csv --- uuv_mission/dynamic.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/uuv_mission/dynamic.py b/uuv_mission/dynamic.py index c7c7ad53..0f899d85 100644 --- a/uuv_mission/dynamic.py +++ b/uuv_mission/dynamic.py @@ -75,9 +75,12 @@ def random_mission(cls, duration: int, scale: float): @classmethod def from_csv(cls, file_name: str): - # You are required to implement this method - pass - + # extracting data from the mission.csv + data = np.loadtxt(file_name, delimiter=',', skiprows=1) + reference = data[:, 0] + cave_height = data[:, 1] + cave_depth = data[:, 2] + return cls(reference, cave_height, cave_depth) class ClosedLoop: def __init__(self, plant: Submarine, controller): From 266722eb4a5f4c691ae3c50b4d901b8acfe829d1 Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 14:20:18 +0100 Subject: [PATCH 4/8] PD controller for control action calculation --- uuv_mission/control.py | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 uuv_mission/control.py diff --git a/uuv_mission/control.py b/uuv_mission/control.py new file mode 100644 index 00000000..9095482e --- /dev/null +++ b/uuv_mission/control.py @@ -0,0 +1,6 @@ +# a proportional derivative (PD) feedback controller + +def pd_controller(error, prev_error, Kp=0.15, Kd=0.6) -> float: + + control_action = Kp * error + Kd * (error - prev_error) + return control_action \ No newline at end of file From 930e057a24d07c52409b9c7c5a13675fad87d378 Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 14:21:28 +0100 Subject: [PATCH 5/8] Completed close lopp with control action --- uuv_mission/dynamic.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/uuv_mission/dynamic.py b/uuv_mission/dynamic.py index 0f899d85..7d04358c 100644 --- a/uuv_mission/dynamic.py +++ b/uuv_mission/dynamic.py @@ -95,12 +95,16 @@ def simulate(self, mission: Mission, disturbances: np.ndarray) -> Trajectory: positions = np.zeros((T, 2)) actions = np.zeros(T) + errors = np.zeros(T) self.plant.reset_state() for t in range(T): positions[t] = self.plant.get_position() observation_t = self.plant.get_depth() # Call your controller here + error = mission.reference[t] - observation_t + prev_error = error[t-1] if t > 0 else 0 + actions[t] = self.controller(error, prev_error) self.plant.transition(actions[t], disturbances[t]) return Trajectory(positions) From e3143e7830b2a3db80500e520316b93af91bee9d Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 14:30:48 +0100 Subject: [PATCH 6/8] Imported relevant modules to notebooks --- notebooks/demo.ipynb | 24 ++++++++++++++++++------ 1 file changed, 18 insertions(+), 6 deletions(-) diff --git a/notebooks/demo.ipynb b/notebooks/demo.ipynb index aa0c5cee..6cb40d11 100644 --- a/notebooks/demo.ipynb +++ b/notebooks/demo.ipynb @@ -6,14 +6,24 @@ "metadata": {}, "outputs": [], "source": [ - "# Add relevant Jupyter notebook extensions " + "# Add relevant Jupyter notebook extensions \n", + "%load_ext autoreload\n", + "%autoreload 2" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 2, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['D:\\\\3rd\\\\B1_Sientific_coding_Jiayi_Yang\\\\b1-coding-practical-mt24', 'd:\\\\3rd\\\\B1_Sientific_coding_Jiayi_Yang\\\\b1-coding-practical-mt24\\\\notebooks', 'd:\\\\anaconda\\\\python312.zip', 'd:\\\\anaconda\\\\DLLs', 'd:\\\\anaconda\\\\Lib', 'd:\\\\anaconda', '', 'C:\\\\Users\\\\hzdfj\\\\AppData\\\\Roaming\\\\Python\\\\Python312\\\\site-packages', 'C:\\\\Users\\\\hzdfj\\\\AppData\\\\Roaming\\\\Python\\\\Python312\\\\site-packages\\\\win32', 'C:\\\\Users\\\\hzdfj\\\\AppData\\\\Roaming\\\\Python\\\\Python312\\\\site-packages\\\\win32\\\\lib', 'C:\\\\Users\\\\hzdfj\\\\AppData\\\\Roaming\\\\Python\\\\Python312\\\\site-packages\\\\Pythonwin', 'd:\\\\anaconda\\\\Lib\\\\site-packages', 'd:\\\\anaconda\\\\Lib\\\\site-packages\\\\win32', 'd:\\\\anaconda\\\\Lib\\\\site-packages\\\\win32\\\\lib', 'd:\\\\anaconda\\\\Lib\\\\site-packages\\\\Pythonwin']\n" + ] + } + ], "source": [ "# You can double-check your Python path like this...\n", "import sys \n", @@ -35,11 +45,13 @@ "outputs": [], "source": [ "# Import relevant modules\n", + "from uuv_mission.dynamic import Submarine, ClosedLoop, Mission, Trajectory\n", + "from uuv_mission.control import pd_controller as controller\n", "\n", "sub = Submarine()\n", "# Instantiate your controller (depending on your implementation)\n", "closed_loop = ClosedLoop(sub, controller)\n", - "mission = Mission.from_csv(\"path/to/file\") # You must implement this method in the Mission class\n", + "mission = Mission.from_csv(\"data/mission.csv\") # You must implement this method in the Mission class\n", "\n", "trajectory = closed_loop.simulate_with_random_disturbances(mission)\n", "trajectory.plot_completed_mission(mission)" @@ -48,7 +60,7 @@ ], "metadata": { "kernelspec": { - "display_name": "first-venv", + "display_name": "base", "language": "python", "name": "python3" }, @@ -62,7 +74,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.9.12" + "version": "3.12.7" } }, "nbformat": 4, From ff1fafe48fc363758ffe3bb16828a02cfd88d46c Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Thu, 16 Oct 2025 15:14:19 +0100 Subject: [PATCH 7/8] Fixed bugs in simulate function --- uuv_mission/dynamic.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/uuv_mission/dynamic.py b/uuv_mission/dynamic.py index 7d04358c..ae3c2cd1 100644 --- a/uuv_mission/dynamic.py +++ b/uuv_mission/dynamic.py @@ -99,13 +99,17 @@ def simulate(self, mission: Mission, disturbances: np.ndarray) -> Trajectory: self.plant.reset_state() for t in range(T): - positions[t] = self.plant.get_position() + observation_t = self.plant.get_depth() # Call your controller here error = mission.reference[t] - observation_t - prev_error = error[t-1] if t > 0 else 0 - actions[t] = self.controller(error, prev_error) - self.plant.transition(actions[t], disturbances[t]) + prev_error = errors[t-1] if t > 0 else 0 + action = self.controller(error, prev_error) + self.plant.transition(action, disturbances[t]) + + positions[t] = self.plant.get_position() + actions[t] = action + errors[t] = error return Trajectory(positions) From 4ed8f38c149622d3693cff789bfee9f068fea566 Mon Sep 17 00:00:00 2001 From: Jiayi Yang Date: Fri, 17 Oct 2025 15:34:38 +0100 Subject: [PATCH 8/8] Added relevant Jupyter notebook extensions --- notebooks/demo.ipynb | 20 ++++++++++++++++---- 1 file changed, 16 insertions(+), 4 deletions(-) diff --git a/notebooks/demo.ipynb b/notebooks/demo.ipynb index 6cb40d11..ef5b3fff 100644 --- a/notebooks/demo.ipynb +++ b/notebooks/demo.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -40,18 +40,30 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 3, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ "# Import relevant modules\n", "from uuv_mission.dynamic import Submarine, ClosedLoop, Mission, Trajectory\n", "from uuv_mission.control import pd_controller as controller\n", + "import numpy as np\n", "\n", "sub = Submarine()\n", "# Instantiate your controller (depending on your implementation)\n", "closed_loop = ClosedLoop(sub, controller)\n", - "mission = Mission.from_csv(\"data/mission.csv\") # You must implement this method in the Mission class\n", + "mission = Mission.from_csv(\"../data/mission.csv\") # You must implement this method in the Mission class\n", "\n", "trajectory = closed_loop.simulate_with_random_disturbances(mission)\n", "trajectory.plot_completed_mission(mission)"