PairingLagScenario

Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/demonstrations.py.

Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.

An observation paired with an action lag later, against a clearance, at a transit speed and at site’s guarded and fast latch approaches.

Notes

Equation: Alignment displacement=speed*lag; permissible lag=clearance/speed.

Assumptions: Constant speed during pairing or shutter delay and a scalar clearance budget.

Excludes: Acceleration, rotation, deformable contact, and a safety certificate.

References

Derivation: Constant-velocity kinematics gives displacement as velocity times elapsed lag. Solving that relation for lag at a supplied clearance gives the timing ceiling.

Examples

The named registry scenario supplies the stated inputs; this is a modeled calculation, not a new measurement.

>>> from mlsysim import Scenarios
>>> scenario = Scenarios.LatchPairingLag
>>> round((scenario.displacement_transit).to('mm').magnitude, 6)
17.5

Attributes

Name	Description
clearance
displacement_fast	Pairing-lag travel in mm at the faster approach speed, via `displacement`.
displacement_guarded	Pairing-lag travel in mm at the guarded approach speed, via `displacement`.
displacement_transit	Pairing-lag travel in mm at the supplied transit speed, via `displacement`.
fast_over_clearance	Dimensionless fraction of clearance consumed by faster-approach pairing error.
fast_speed	Faster comparison speed copied from the site’s `v_latch_high`, retaining velocity units.
guarded_speed	Guarded approach speed copied from the site’s `v_latch_approach`, retaining velocity units.
lag
lag_ceiling_fast	Alignment-delay budget in ms at the faster speed, via `lag_ceiling`.
lag_ceiling_guarded	Alignment-delay budget in ms at the guarded speed, via `lag_ceiling`.
shutter_skew_high
shutter_skew_low
site
skew_displacement_fast	Travel in mm over the high shutter-skew interval at the faster approach speed.
skew_displacement_transit	Travel in mm over the high shutter-skew interval at transit speed; uses the constant-speed displacement model.
transit_over_clearance	Dimensionless fraction of clearance consumed by transit-speed pairing error.
transit_speed

Methods

Name	Description
displacement	Constant-speed travel in mm over explicit `lag` or the scenario’s pairing lag; acceleration is excluded.
lag_ceiling	Maximum alignment delay in ms before constant-speed travel consumes the declared clearance.

displacement

engine.scenario_types.PairingLagScenario.displacement(speed, lag=None)

Constant-speed travel in mm over explicit lag or the scenario’s pairing lag; acceleration is excluded.

Equation: (speed * (self.lag if lag is None else lag)).to(‘mm’)

lag_ceiling

engine.scenario_types.PairingLagScenario.lag_ceiling(speed)

Maximum alignment delay in ms before constant-speed travel consumes the declared clearance.

Equation: (self.clearance / speed).to(‘ms’)