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ECE-492/3 Case Study:
Pendulum Clock Timer
© 2015 Peter W. Pachowicz
Department of Electrical and Computer Engineering
George Mason University
Fairfax, VA
Note: This material was developed for GMU ECE492/3 students only.
Distribution/use by other entities is not allowed without a written
permission from the author.
2
1. Identification of Need
2. Operational Scenario &
Requirements Specification
3. Conceptual Design
4. Functional
Decomposition
5. System Architecture
6. Behavioral Modeling
7. Background Foundations
8. Early Prototyping
10. Testing Plan
11. Project Management
9. Detailed Design
Design Process
STEP 1:
Identification of Need
Starting point: Faculty suggested topic description
(Issued on January 21, 2015)
“This project will develop a low-cost device for measuring key
parameters of a mechanical pendulum instrument. Measurements
must be of high accuracy and precision. Developed solution
should be transferable into a larger unit dedicated to the control
of the instrument. …….... “
3
Identification of Need(Bulleted Format)
A device to measure key parameters such as period (T) and
quality (Q) of a mechanical pendulum
Measurements taken with a high accuracy and precision
The device must use a low-power optical sensor already
integrated with the pendulum
Developed solution must be low-cost
In the future, developed solution will be modified and
transferred to a pendulum clock control module
4
Answers to Heilmeier’s Questions
1) What are you trying to do? Articulate your goals.
To develop a device and techniques for measuring pendulum
parameters with high precision and accuracy
2) How is it done today, and what are the limitations of
current practice?
There are stand alone precision devices able to measure
pendulum period with very high (up to 2-5 µs) precision and
similar accuracy, but they use sensing techniques taking a lot
of energy
These devices are expensive and cannot be integrated into a
larger system
They do not measure quality factor of a pendulum5
3) What is new in your approach, and why do you think
it will be successful?
The device will measure both period and quality factor
Measurement data will include confidence information
Developed technology will be transferable
Approach will be based on solid mathematical foundations
The device will be low-cost and low-power
4) Who cares? If you are successful, what difference will
it make?
Developed device is needed for a larger effort
Developed technology will be transferred to a target system
controlling mechanical pendulum clock
The project provides an experience in the development of
highly accurate measurement devices
6
5) What are the risks and payoffs?
Interfacing with a mechanical pendulum that allows for taking
high precision measurements is no clear at this point and may
cause delays
Pendulum axial vibrations and other effects may greatly
influence measured data
6) How much will it cost? How long will it take?
Estimated budget is in range of $100 to $200 covering electronic
components, including backup components, and components
needed for the development and testing
First semester is dedicated to the design effort, development of a
technique for sensor data processing, and approach simulation
Second semester is dedicated to a full scale implementation
The team will potentially need to work over the spring break
and/or a part of summer
7
7) What are midterm and final milestones to check for
success?
Mathematical foundations will be developed and simulated
before the implementation phase (1st semester)
Project progress will include demonstrations of sensing
capabilities (1st semester) and data processing (2nd semester)
Final testing of the entire system will be scheduled a week
before the final presentation
8
STEP 2:Requirements Specification
The team members spent time on educating themselves
on the application domain and applicable technology
The team prepared questions for an interview
The interview was completed with the stakeholder
o Notes from the interview were scripted
The team developed an operational scenarios which
were verified by the stakeholder
o Operational scenarios included “Use Cases” illustrating system
operations and interactions with the environment/users
Requirements were defined and verified9
Interview Notes
Q1: Please, describe the pendulum instrument.
o Free swinging pendulum with T=2sec
o ~1m long
o Motion is small and about ±1.5°
Q2: With what sensors/components must the
measuring device interface?
o Ultra-low-power photo interrupter installed on the
instrument
o Mask with two small windows attached to the
pendulum rod swings between an LED and a
photoreceptor of this sensor
o LCD with a parallel and I2C interface (swappable)10
Q3: What are the physical parameters to be measured?
o Pendulum period T (~2sec)
o Pendulum quality factor, better known as Q
Q4: What is the accuracy, precision, and value ranges for
these measurements?
o For period T:
At least 10µs accuracy
2µs precision
Value range 1.9s to 2.1s
o For quality factor Q:
Expected reasonable range from 10 to 5000 (greatly depends
on suspension spring and attachments to the pendulum)
High accuracy and precision for Q is not critical
11
Q5: How would you like to operate the device?
o First, pendulum is set in motion
o Next, the measurement process is initiated manually by an
operator (using a push button)
o Measurements are displayed on a LCD
o First measured data can be displayed with a delay of up to 15sec
Q6: Which part of the design must be transferable to a
control unit of the pendulum?
o Software shall be developed as a single component with defined
interfaces
o It is assumed that small software modifications will be needed for
software transfer
o Any hardware module must be transferable without modifications
o Use a MCU from the PIC24 family12
Q7: What type of events may negatively influence the
process and how are they to be deal with?
o Variety of external factors difficult to predict, for example:
excessive axial motion, excessive amplitude of the swing,
accidental friction between the mask and sensor, etc.
o Data displayed should include a confidence factor
o Notification of fatal errors/warnings
Q8: Are there any additional specific restrictions on the
size, power, etc. to be considered for the design?
o Low power design
o Power supply in range of 3V to 3.3V
o Easy operation
o Measurements taken on request (not continuous)
o Maximum time of 1min for the measuring process
13
Sample Input/Output Scenario
User Measuring Device Pendulum
Power up
Power up sensor
Receive sensor signal
Feedback Ready
Send sensor signal indicator (cont.)
Request measurements
Request sensor signal
Receive sensor signal
Feedback T and Q
Feedback Confidence
Stand by14
External Systems’ Diagram
15
Measuring
Device
User
Pendulum
Instrument
Power
Power Up
Power
Status
Sensor Signal
Requests
Displayed Data
Summary of Project Requirements
Mission Requirements
o The device shall measure period T and quality Q of a 2sec pendulum
instrument
Operational Requirements
Input/Output Requirements
o The device shall accept an input from a user through a push button
o The device shall provide power to a photo-interrupter mounted on the
pendulum instrument
o The device shall accept a signal from the photo-interrupter
o The device shall provide readiness status after being powered up
o The device shall display results and messages on a simple LCD
External Interface Requirements
o The device shall receive power from an external source at 3.0-3.3V16
Functional Requirements
– The device shall measure T and Q
– The device shall measure accuracy, precision, and range of T
at:10µs, 2µs, and 1.9 to 2.1s
– The device shall measure Q within 10-5000
– The device will provide a confidence level for measurements
taken
– The device shall take all measurements and perform
calculations within 1 minute time frame
– The device should detect errors and provide visual notification
Technology and System-Wide Requirements
o The device shall have very low-power consumption
o Microcontroller shall belong to the PIC24 family
o The device shall display data on a LCD through a parallel and
I2C interfaces for easier technology transfer
o Hardware and software will have modular structure for easy
technology transfer
o The device should be low-cost17
STEP 3:Conceptual Design
Free sketching was used to develop three separate concepts
o User view was most important at this point
o This sketching was fast – just letting the ideas to flow and record
them on three blank pages
Next, each sketch was refined by adding technology
o This is to bridge user-view with technological ideas
o But remember, no detailed technical solution is considered at this
point at all. Only an opportunity is considered.
o No judgment was applied
o Considerably more time was spent at this point
See these three sketches:18
19
20
21
Conceptual Design Evaluation
Ideas extracted from:
Sketch #1:
Two switches
Interchangeable LCD + Dual interface
Sketch #2:
System behavior (GetReady, Notify, Measure)
Timing out
Sketch #3:
Two-line LCD
Sequential screens
Display: T, Average T, Mean deviation of T, Q
Moving average of measurements 22
Final Concept Sketch
Judgment, technology review, requirements, and other
constraints were used to formulate the final sketch
Selected ideas were integrated into a single concept
Several additions were introduced, as well
Certain details were moved to sketch notes
Final sketch was drawn 23
24
STEP 4:
Functional Decomposition
Black-Box Design
While-Box Design
Level-0
Level-1
Level-2
Itemize and decompose system functionality
Use of:
o Final Concept Sketch
o Operational Scenarios
o Requirements Specification
Be able to explain what happens inside the system 25
Top-Level Functions (Level-0)
Power Up
Request
Sensor Signal
System
Status
Electric Power
Data
Request
Sensor Signal
Request
(Electric Power) Accept User’s Requests
Control Pendulum Sensor
Calculate Pendulum
Characteristics
Control DisplayPendulum
Characteristics
26
Functional Decomposition (Level-1)
Accept
User’s
Requests
Sensor
Signal
Acquire
Data
System
Status
Control
Pendulum
Sensor
Calculate
Pendulum
Characteristics
Control
DisplayPendulum
Characteristics
Sensor
Signal
Request
(Elec.Power)
Power
Up
Electric Power
Sensor On
Request
Timing
Data
Acquire Characteristics Request
System Ready/
Error
Pendulum
Data
Reset
Request
27
Functional Decomposition (Level-2)
Function: Accept User’s Requests
Power Up
& Configure
Acquire
Data
Request
Measurement
Process
Initiation
Power Up
Request
Sensor On
Request
Acquire Characteristcs
Request
Ready
Reset Request
28
System
Ready/
Error
Function: Control Pendulum Sensor
Detect Sensor
Signal &
Pendulum
Phase
Acquire
Pendulum
Period Timing
Data
Sensor On Request
Electric Power
System
Ready/Error
Timing
Data
Sensor
Signal
Provide
Sensor
Power
Sensor
Config.
Data
Sensor
Signal
Request
(Elec.Power)ReadyReset Request
29
Function: Calculate Pendulum Characteristics
Calculate
Period &
Confidence
Data
Acquire
Characteristics
Request
System
Ready/
Error
Timing
Data
Timing
Services
Pendulum
Data
Data
Presentation
Period &
Confidence
Data
Start/Stop/Reset
30
Function: Control Display
Screen
Selection
Screen
Presentation
Acquire
Characteristics
Request System Status
Pendulum
Characteristics
Display Ready
System
Ready/
Error
Pendulum Data
Reset Request
31
STEP 5:
System Architecture
For your Proposal Presentation:
System Architecture – Top-level diagram w/ main components
For Proposal Document:
1) Physical Architecture – brief hierarchical model
2) System Architecture – Top-level diagram w/ main
components
32
Generic Physical Architecture
Clock Timer
Power Supply
Module
Power Switch
Power Converter
Sensor Module
Power Verifier
Photo-Interrupt
Sensor
Command Module
Push-Button
Display Module
I2C LCD
Parallel LCD
Processing Module
Hardware
Software
33
Configuration
Detector
System Architecture
Processing Module
(MCU)
Push
Button
Config
Detector
Power
Switch
Power
Converter
Display Interface
Parallel LCD
I2C LCD
Photo-Int
Sensor
Power
Verifier
4-14
VDC
Data/
Status
Power
Confirm
Sensor signal
On/Off
Request/
Reset
34Programming
Interface
Testing
Interface
STEP 6:
Behavioral Modeling
Since the system is microcontroller-based, the following
models have been developed:
o State diagram
o Flowcharts
You will notice that these models are not copies of functional
decomposition, but they are practical implementation of it (!)
Implementation will progress through the following
phases:
1) Develop and test a top level software shell to switch between
states (as modeled by state diagram)
2) Separately build and debug software modules corresponding to
each state independently (as modeled by data flowcharts)
3) Gradually attach software objects under the software shell35
State Diagram
36
ConfigureStart
User Request
PowerOn
Sensor
Control
ReadyDisplay
Error
Measure
Display End
Results
>1min
User Request
Done
Done
ErrorError
User Request
Flowcharts
37
Configure MCU
Disable User-INT
Detect Display
Configure State
Enter from
Start
Exit to
Sensor Ctrl
Power Up Sensor
Verify Sensor
Power
Enter from
Display
Sensor Ctrl State
Detect Sensor
Signal
Signal
Take T data
n y
~2secn
y
Exit to Error
Flag signal on
Display
Process
>10sec
y
n
Exit to
Ready
Enter from
Start
38
Display READY
Enable User-INT
Take T data
Enter from
Sensor Ctrl
Ready State
Display T data
Exit to
Measure
INT on Push
Button
Disable User-INT
Init memory ptrs
Get T data
Enter from
Ready
Measure State
Enable User-INT
Exit to Error
Calculate On-Line
Measurements
~2secn
y
Store in Memory
Process
>60sec
y
n
Exit to
Display
Display
Measurements
39
Reset Display
Display Error
Message
Enter
Error State
Enable INT
Stay Idle
Exit to
Sensor Ctrl
INT on Push
Button
Calculate T
Calculate Q
Enter from
Measure
Display State
Calculate
Confidence
Exit to
Sensor Ctrl
Display Final
Results
INT on Push
Button
DESIGN NOTE (!)
Top-down design steps (Step1 to Step5) contributed to the
understanding of system functionality, in/out interactions,
and the development of system architecture
However, Step 6 brings this ‘understanding’ into practical
implementation, where both top-down and bottom-up designs
are combined
You may notice that functional decomposition diagram is not
transferred directly (into the state diagram and flowcharts);
but its components are arranged in such a way that
implementation is more optimal and practical
It is expected that in Step 6, added bottom-up design
influences changes in the design
In summary, top-down design leads towards the final design
but has to accept changes introduced by bottom-up design40
STEP 7:
Background Foundations
“The ability to physically model differentiates engineers; it is not
a commodity,” Dr. K.C. Craig, Design News, Nov. 2012
Keep in mind that straightforward use of physics, math, etc.
frequently does not give the best results
Frequently, background foundations must be used in an innovative
(different) way to achieve modeling goals
Consider this case study:
Mathematical model of pendulum could be applied directly. If so, it
would require additional parameters of questionable accuracy or cause
problems.
Instead, the author went a step further and evolved the foundations
into an interesting method to measure T and Q, as shown in next pages.41
Pendulum as an oscillator
For small angles (<1.5°) pendulum is modeled as a linear system with a mathematical
model identical to a well known torsion spring oscillator
Pendulum:
Torsion spring:
where: g – gravity; l – pendulum length; k – spring constant; m – mass; γ – dumping
coefficient
Solution for underdumped system, where
where: ω – angular frequency; ω0 – resonant angular frequency; A – amplitude
42
0)()2(2
2
l
g
dt
d
dt
d
0)()2(2
2
xm
k
dt
dx
dt
xd
l
mgk with
lg / and 0
2
0
2
)cos()( tAetx t 22
0 and
How to measure pendulum period T ?Mask with a small window sliding between LED and phototransistor of a proto-interrupter will
generate pulses – But it gives two interpretations with one misaligned to α=0
Mask with two different size windows – Provides a unique solution (similar to quadrature encoder)
43
α=0V
tT
T
α=0V
tT
α=0 α=0 α=0
α=0 α=0 α=0
Mask motion
Mask motion
How to measure pendulum quality factor Q ?
Background:
Developed approach to measure Q:
1) Using amplitude of wave maxima and potential energy loss calculation (not convenient), or
2) Using speed at α=0 and kinetic energy loss calculation (not convenient), or
3) Estimated by using a difference in kinetic energy at consecutive periods from α=0.
Hence, Q can be estimated using measured ∆t it takes a mask window to travel
through the photo-interrupter (!)
This corresponds to an inverted problem and can be represented as follows:
where: ∆tT0 for the first period and ∆tT1 the next period are measured by the photo-
interrupter
This approach must be confirmed through a simulation (!)44
radian per dissipatedenergy Average
oscillator in the storedEnergy Q
22 and ; ; )()( :where 02 QEEEetETtE potentialkinetic
T
)()(
)(2
TtEtE
tEQ
)()(
)(2
01
1
TkTk
Tk
tEtE
tEQ
Approach #3 (from previous slide): Calculations needed for Q estimation
Given:
Q is estimated:
and assuming:
Q is can be solved computationally for measurements of ∆t taken every period by the photo-interrupter:
45
)2(sin2
1)(
2
1)( 2222 tAmtmvtEk
)2(sin)2(sin
)2(sin2
0
222
1
2
1
22
1
2
1
22
1
2
teAmtAm
tAmQ
T
)2(sin)2(sin
)2(sin2
00
2
10
2
10
2
00
tet
tQ
Q
T
0
0 2 and
Or, using Taylor series
Q can be derived as follows:
46
)2(sin)2(sin
))2(sin)2(sin2(
00
2
10
2
00
2
10
2
0
tt
tTtQ
large is Q assuming 1 0 0
Q
Te Q
T
STEP 8:
Early Prototyping
Task #1) Photo-interrupter configuration
o Objective: Tune the sensor for low-power consumption
47
o Schematics
o From spec sheet of TCST1300 we learn:
Sensor aperture is 0.25mm (very small)
Practical minimum forward current IF≥2mA
For smaller current, IF˂2mA, Turn-on/Turn-
off delay is very large
Collector current IC=0.025*IF. For IF=2mA,
collector current is IC=50µA (very small
indeed)
This gives us initial resistor values: R1≈1kΩ;
R2≈60kΩ
o Final resistor values found through experimentation: R1=1kΩ ;
R2=100kΩ (assuming MCU input impedance RL=[0.5-1MΩ]
o Obtained signal graphs with TCST1300 sensor:
o Conclusions:
1. Conducted experiments determined minimum current levels for
the photo-interrupter and resistor values
2. Size of mask windows can be decreased by a half due to relatively
small Turn-on/Turn-off delay
3. Timing data can be noisy due to axial vibrations of the pendulum –
proper technique for estimation of T and Q values from noisy
timing data must be implemented 48
Task #2) Oscillator modeling through Matlab simulation
o Oscillator function programmed with a very small increments
of time (1x10-6sec)
o Thick line sections are ∆t intervals indicating increasing time
the mask moves through a photo-interrupter
49
QtAetx t
2 and ,5.0 where)2cos()( 0
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Time [sec]
Am
plit
ude 0t 1t 2t
Task #3) Simulation based verification of Q estimation
o Developed numerical iterative calculation of Q
For given ω0 and T, and measured ∆t0 , ∆t1, one can estimate Q through an
iterative numerical process over increasing n until a stop condition is met (as an
error threshold on Q calculated at two sequential iterations)
o Results for different values of Q
o Q computed through Taylor series gives faster and similar results
50
1 initialwith 0
0
Q
T
e
)2(sin)2(sin
)2(sin2
00
2
10
2
10
2
0
1
0
tet
tQ
nQ
Tn
Q=20 Q=100 Q=500 Q=2500
Iter n=1 32.94 158.06 768.76 3444.48
Iter n=2 25.68 121.02 594.80 2850.30
Iter n=3 24.20 112.83 555.04 2702.10
Iter n=4 23.82 110.52 543.54 2658.16
Iter n=5 23.71 109.82 540.00 2644.49
Qest Q=20 Q=100 Q=500 Q=2500
23.48 109.28 538.15 2637.93
Task #4) Averaging Q due to substantial noise in ∆t
measurements
o This can be achieved through averaging Q values obtained every
single period
o Or more conveniently, estimating Q for ∆t0 measured at the
beginning of the process and ∆tM measured after M periods:
o Results for different value of Q estimated iteratively
o Q computed through Taylor series gives faster and similar result
51
1 initialwith 0
0
Q
MT
e
)2(sin)2(sin
)2(sin2
00
2
0
2
0
2
1
0
tet
tMQ
nQ
MT
M
Mn
Qest Q=20 Q=100 Q=500 Q=2500
Iter n=1 38.05 162.47 769.95 3451.08
Iter n=2 31.67 126.40 597.65 2857.75
Iter n=3 30.69 118.86 558.71 2710.11
Iter n=4 30.51 116.87 547.61 2666.46
Iter n=5 30.48 116.32 544.25 2652.93
Qest Q=20 Q=100 Q=500 Q=2500
29.96 115.59 541.84 2645.77
STEP 9:Detailed Design
Hardware part
Schematics
Component selection and values
Software part
Software structure definition
Software modules identification
52
Schematics
53
Software Structure
54
Control Layer
Functional Layer
Hardware-Software
Interface Layer
Sys. Config.;
Task Switching
Requests Module;
Sensor Module;
Calculation Module;
Display Module
LCD Driver; Sensor Data Collector; Request Interrupt
Note: Modules contain smaller threads
STEP 10:Testing
Referring to Project Requirements, the following selected
requirements will be validated through four experiments
Mission requirement
o The device shall measure period T and quality Q of a 2sec pendulum
instrument
Operational requirement
o The device shall accept an input from a user through a push button
Functional requirements
A. The device shall take all measurements and perform calculations
within 1 minute time frame
B. The device should detect errors and provide visual notification55
Experimental Plan
Experiment #1 (Mission Requirement evaluation)
Goal: To evaluate taken measurements of T and Q over time
System components: Pendulum, Measuring device, PC
Testing process:
After pendulum is set in motion, the device will continuously
transfer measured T and Q to a PC via a serial link
Data collection on a PC will take 10 minutes
Data collection repeated three times
Data processing and visualization: Raw data will be processed to
calculate mean and standard deviation. Raw data and processed data
will be displayed over time experiment.
Evaluation: Focus on deviation and other irregularities in data
Note: Extra hardware component (serial link) and software (for data
transfer) needs to be implemented to carry this experiment56
Experiment #2 (Operational Requirement evaluation)
Goal: To evaluate human-device operation using a push button
System components: Pendulum, Measuring device
Testing process:
Push button activated when a system is at different states
Logical and illogical activations to be tested
Data collection: State transitions will be recorded. No specific
numerical data will be collected.
Evaluation:
Focus on the detection of state transitions inconsistent with
the model.
Verification of LCD messages/data
57
Experiment #3 (Functional Requirement A evaluation)
Goal: To evaluate measurements of T, Q, and quality over
1min time period
System components: Pendulum, Measuring device, PC
Testing process:
The same process as in Experiment#1, but data collected as
sent to LCD display
There will be 10 sets of data (for a single 10 min
experiment)
Data processing and visualization: Data will be displayed over
1min time period. Deviation from mean will be calculated.
Evaluation: Focus on deviation and other irregularities in data.
Question to be answered: Is the time period of 1min sufficient
to obtain stable data?
Note: See Experiment#1
58
Experiment #4 (Functional Requirement B evaluation)
Goal: To detect errors and exit from them
System components: Pendulum, Measuring device, PC
Testing process:
Pendulum motion to be intentionally interrupted, slowed,
or sped up
T and Q monitored by a PC through a serial link
Push button activated after an error detected to switch to
the Sensor Control state
Data collection: Error messages against disturbance type will
be recorded. Disturbance to be monitored by T, Q and
measurement quality data.
Evaluation:
Focus on the detection of errors of different type.
Verification of LCD messages/data
59
STEP 11:Work Breakdown Structure
• Refer to system functional decomposition and allocation
• Design major tasks based on functional decomposition
(Level-1), system architecture, user-centered operations,
and software structure
• Add tasks for integration, testing, reporting, etc.
• Allocate task duration to each major task
• Develop a complete list of tasks by decomposing each major
task according to functional decomposition (Level-2) and
interfacing
• Allocate task duration to each subtask and synchronize
subtask timelines into a project plan (in graphical format)60
List of Major Tasks
1. Hardware development
2. Power supply development
3. Software drivers development
4. Software modules development
5. System integration
6. Testing
7. Reporting
8. Milestones/Demos
61
Complete List of Tasks
1. Hardware development (3 weeks)
1.1 Sensor setup
1.2 PCB design
1.3 PCB assembly
2. Power supply development (4 weeks)
2.1 PCB design
2.2 PCB assembly
2.3 Tuning and testing
3. Software drivers development (5 weeks)
3.1 LCD driver
3.2 Request interrupt
3.3 Sensor data collector
4. Software modules development (6 weeks)
4.1 Request module
4.2 Sensor module
4.3 Calculation module
4.4 Display module62
5. System integration (11 weeks)
5.1 System configuration module
5.2 Task switching module
5.3 Request functionality
5.4 Sensor functionality
5.5 Calculation functionality
5.6 Display functionality
6. Testing (3 weeks)
6.1 Experiment #1
6.2 Experiment #2
6.3 Experiment #3 and #4
7. Reporting
7.1 Progress report
7.2 In-progress presentation
7.3 Final report
8. Milestones/Demos
8.1 Demo #1
8.2 Demo #2
8.3 Demo #3
63
Project Plan
64
Using GanttProject software
65
1. Hardware development
1.1 Sensor setup
1.2 PCB design
1.3 PCB assembly
2. Power supply development
2.1 PCB design
2.2 PCB assembly
2.3 Tuning and testing
3. Software drivers development
3.1 LCD driver
3.2 Request interrupt
3.3 Sensor data collector
4. Software modules development
4.1 Request module
4.2 Sensor module
4.3 Calculation module
4.4 Display module
5. System integration
5.1 System configuration module
5.2 Task switching module
5.3 Request functionality
5.4 Sensor functionality
5.5 Calculation functionality
5.6 Display functionality
6. Testing
6.1 Experiment #1
6.2 Experiment #2
6.3 Experiment #3 and #4
7. Reporting
7.1 Progress reporting
7.2 Final report
8. Milestones/Demos
8.1 Functionality demos
Comple-
tion
rateTask
Week
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14
0%
0%
0%
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Using a simple graphical tool
