hmph

ME_2046/Midterm/midterm.m

@@ -0,0 +1,87 @@
+% ME 2046 MIDTERM
+% DANE SABO
+% MARCH 17TH, 2025
+% PROBLEM 5
+close all
+clear all
+
+A = [1 0.09; 0 0.9];
+B = [0.005; 0.1];
+C = [1 0];
+D = 0;
+T = 0.1; %s
+
+fprintf("\n======= Part 1: =========\n")
+p = [1 -1.776 0.819];
+fprintf("Closed loop poles: \n")
+lambdas = roots(p)
+
+fprintf("Natural Frequency: \n")
+omega_n = sqrt(p(3))
+
+fprintf("Damping Ratio: \n")
+zeta = abs(p(2)/2/omega_n)
+
+fprintf("\n======= Part 2: =========\n")
+lambdas(:)
+K = place(A, B, lambdas(:))
+
+fprintf("Check eigenvalues...\n")
+eig(A - B*K)
+fprintf("Great! \nNow finding N...")
+N = 1/(C*inv(eye(2) - A + B*K)*B)
+
+fprintf("\n======= Part 3: =========\n")
+sys = ss(A-B*K, B*N, C, D, T)
+G_CL = tf(sys)
+
+% Define simulation parameters
+n = 50;                     % number of steps
+t = 0:T:(n-1)*T;            % time vector for discrete time instants
+u = ones(n,1);              % step input (magnitude 1 at each step)
+x_0 = [-0.5; 0];            % initial condition
+
+% Simulate the discrete system response using dlsim
+[y, x] = dlsim(A-B*K, B*N, C, D, u, x_0);
+
+% Plot the discrete step response using stairs for clarity
+figure;
+stairs(t, y, 'LineWidth', 1.5)
+xlabel('Time')
+ylabel('Output')
+title('Discrete Step Response with Initial Conditions')
+grid on
+
+fprintf("\n======= Part 4: =========\n")
+figure;
+bode(sys)
+
+fprintf("\n======= Part 5: =========\n")
+witness_me = tf(1, [1, -1.638, 0.617], T);
+%WITNESS ME BLOOD BAG! WITNESSSS!!!! *spray paints mouth*
+observer = ss(witness_me)
+
+fprintf("\n======= Part 6: =========\n")
+fprintf("Observer poles: \n")
+eig(observer.A)
+
+fprintf("Closed-Loop poles: \n")
+eig(A - B*K)
+mag = sqrt(0.888^2 +0.1745^2)
+
+fprintf("The observer has an unstable pole while the closed loop system has stable\n")
+fprintf("poles within the unit circle. This observer will not work, because \n")
+fprintf("the error will not converge to the true states.\n")
+
+fprintf("\n======== Part 7: =========\n")
+fprintf("Let's make our closed loop observer poles 10 times faster than \n")
+fprintf("the original system.\n")
+fprintf("Going to the w-plane... \n")
+sys_w = d2c(sys, 'tustin');
+cl_poles_w = eig(sys_w)
+observer_poles_w = 10 * cl_poles_w
+fprintf("Now going back to the z-plane...")
+observer_poles_z = exp(observer_poles_w*T)
+
+fprintf("and finally using place to get L...")
+L = transpose(place(A', C', observer_poles_z))

ME_2046/Midterm/midterm.py

@@ -0,0 +1,6 @@
+import sympy as sm
+
+z, a, x_0, x_d = sm.symbols("z, a, x_0, x_d")
+X_z = ((1 + a) / 2 * z / (z - 1) * x_d + z * x_0) / ((2 * z - (1 - a)) / 2)
+sm.pprint(X_z)
+sm.pprint(X_z.apart(z))

ME_2150/Weather-Station-Tutorial

@@ -0,0 +1 @@
+Subproject commit 08ff8c433e17531ce1caaa712e905b8ebe6fc31b

ME_2150/admin_example/README.md

@@ -0,0 +1,88 @@
+<!--
+Copyright (c) 2023, Kry10 Limited. All rights reserved.
+
+SPDX-License-Identifier: LicenseRef-Kry10
+-->
+
+# Admin Example
+
+The admin example demonstrates a minimal system that runs the admin component on KOS. The admin
+component is an Elixir app that coordinates on-device administration activities, such as system restart and upgrade.
+The admin component also acts as a client to a Kry10 Server.
+
+The admin example is entirely implemented by using the KOS Poukai manifest layer, requiring
+no further augmentations. In particular, the KOS Poukai apps present in this system are:
+
+- `admin_ex`: an Erlang BEAM VM running an Elixir app that coordinates
+  admin activities (such as restart and upgrade) and acts as a client to a
+  Kry10 Server.
+- `key_store`: server that provides a way to store secrets (e.g private keys) that
+  applications can request at runtime.
+- `ethernet`: contains an ethernet driver and implements the `ethernet` protocol
+  to provide ethernet access to other apps on the device.
+- `tunnel`: a secure tunnel to a host machine (typically be managed by the
+  Studio or Fleet Server).
+- `rng_server`: a CSPRNG server, providing an interface that allows applications to request
+arbitrary length streams of random bytes.
+- `log_server`: a system-wide logging service. The server provides an interface for
+applications to emit semi-structured log strings with an associated log
+level i.e. `INFO`, `WARN`, `ERROR` etc.
+- `self_test`: an app that performs a series of tests on startup.
+
+This system demonstrates a good project starting point that can then be further modified as needed.
+
+### Build Instructions
+
+Launch a KOS development shell for the target platform:
+
+ ```console
+$ kos-tool env -p <am335x|qemu-arm-virt|imx8mm-evk|portenta-x8|rpi4>
+ ```
+
+Checkout the admin example sources:
+
+```console
+$ mix kos.docs.example admin_example
+$ cd admin_example
+```
+
+Build the admin example system:
+
+```console
+$ mix kos.build
+```
+
+Proceed to run the system using the Mix `kos.run` utility:
+
+```console
+$ kos-run
+```
+
+
+You will see the admin component start up with output similar to the following:
+```
+|      0.693| Poukai.admin     | 
+|      0.693| Poukai.admin     | ----  Poukai.admin ----
+|      0.732| Poukai.admin     | beam tunnel connection established:
+|      0.732| Poukai.admin     | IP addr: 192.168.2.6
+|      0.733| Poukai.admin     | Netmask: 255.255.255.0
+|      0.733| Poukai.admin     | Gateway: 192.168.2.100
+|      2.931| Poukai.admin     | 
+|      2.931| Poukai.admin     | 08:21:57.837 [info] Starting connection with the Kry10 server on ws://192.168.2.100:4000/cnc
+|      2.952| Poukai.admin     | 
+|      2.952| Poukai.admin     | 08:21:57.870 [info] starting KosSel4 server
+|      2.962| Poukai.admin     | 
+|      2.962| Poukai.admin     | 08:21:57.879 [info] starting KosMsg server
+|      2.993| Poukai.admin     | 
+|      2.993| Poukai.admin     | 08:21:57.909 [warning] Can't start KosTrace. Reason: Tracing Unavailable.
+|      2.995| Poukai.admin     | 
+|      2.995| Poukai.admin     | 08:21:57.910 [info] Starting KosChannels server
+|      3.026| Poukai.admin     | 
+|      3.026| Poukai.admin     | 08:21:57.941 [info] admin_ex's public key: 5paBAr9Cv+h6mZxus78c4BxBgIfyFLAdudrPn6xwR+Q=
+|      3.033| Poukai.admin     | 
+|      3.033| Poukai.admin     | 08:21:57.950 [info] Starting SerialStream server
+|      3.033| Poukai.admin     | 08:23:21.065 [info] Connection has been lost. Reason: {:error, :timeout}. Attempting to reconnect
+```
+
+Follow the [Connecting a device to a Kry10 Server](server_connect_device) guide to connect it to a server so that you can interact
+with the example through your browser.

ME_2150/admin_example/_build/am335x_dev/am335x-c4ca6edcafc/platform_spec.txt

@@ -0,0 +1 @@
+am335x,arch=aarch32

ME_2150/admin_example/_build/am335x_dev/lib/admin_example/ebin/admin_example.app

@@ -0,0 +1,8 @@
+{application,admin_example,
+             [{optional_applications,[]},
+              {applications,[kernel,stdlib,elixir,logger,kos_manifest,
+                             kos_manifest_systems]},
+              {description,"admin_example"},
+              {modules,['Elixir.AdminExampleManifest']},
+              {registered,[]},
+              {vsn,"0.1.0"}]}.

ME_2150/admin_example/_build/am335x_dev/lib/kos_admin_ex/ebin/kos_admin_ex.app

@@ -0,0 +1,7 @@
+{application,kos_admin_ex,
+             [{optional_applications,[]},
+              {applications,[kernel,stdlib,elixir,kos_manifest]},
+              {description,"kos_admin_ex"},
+              {modules,['Elixir.Kos.Admin']},
+              {registered,[]},
+              {vsn,"0.1.0"}]}.

ME_2150/admin_example/_build/am335x_dev/lib/kos_ethernet/ebin/kos_ethernet.app

@@ -0,0 +1,8 @@
+{application,kos_ethernet,
+             [{optional_applications,[]},
+              {applications,[kernel,stdlib,elixir,kos_manifest]},
+              {description,"kos_ethernet"},
+              {modules,['Elixir.Kos.EthernetServer',
+                        'Elixir.Kos.EthernetServer.IOTGIMX8Plus']},
+              {registered,[]},
+              {vsn,"0.1.0"}]}.

ME_2150/admin_example/_build/am335x_dev/lib/kos_i2c/ebin/kos_i2c.app

@@ -0,0 +1,7 @@
+{application,kos_i2c,
+             [{optional_applications,[]},
+              {applications,[kernel,stdlib,elixir,kos_manifest]},
+              {description,"kos_i2c"},
+              {modules,['Elixir.Kos.I2CServer']},
+              {registered,[]},
+              {vsn,"0.1.0"}]}.

ME_2150/admin_example/_build/am335x_dev/lib/kos_key_store/ebin/kos_key_store.app

@@ -0,0 +1,7 @@
+{application,kos_key_store,
+             [{optional_applications,[]},
+              {applications,[kernel,stdlib,elixir,kos_manifest]},
+              {description,"kos_key_store"},
+              {modules,['Elixir.Kos.KeyStore']},
+              {registered,[]},
+              {vsn,"0.1.0"}]}.

ME_2150/admin_example/_build/am335x_dev/lib/kos_log_server/ebin/kos_log_server.app

@@ -0,0 +1,7 @@
+{application,kos_log_server,
+             [{optional_applications,[]},
+              {applications,[kernel,stdlib,elixir,kos_manifest]},
+              {description,"kos_log_server"},
+              {modules,['Elixir.Kos.LogServer']},
+              {registered,[]},
+              {vsn,"0.1.0"}]}.