Computational Thinking Problems and Solutions

The P channel drives an initially very fast ascent but then the D channel responds to the rapid change by slowing things down causing a jerky rise to the target altitude where things are then smoothed out by the I channel.

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The D channel doesn't seem to have much influence as the P channel causes the drone to rise up, overshoot the target and then, after a long, slow correction, settle into a hover at the right altitude.

Rapid ascent with slight overshoot suggesting perhaps a very small D affect: the drone slightly overshoots, the P brings it back down and then the I holds it in a steady hover.

The P channel creates a fairly rapid ascent, conditioned just enough by a negative D so that the drone smoothly approaches the desired altitude without overshooting and then is held in a steady hover by I channel.

A strong D dominates a jerky ascent and insufficient gain on the I channel fails to smooth this out when the drone reaches the target altitude.

A flocking bird needs a control system to prevent collisions with other birds. Consider the diagram below and assume that I, a bird, can detect two things about other birds: their speed relative to my own and the distance between me and the nearest bird on the left and the right, and two things about themselves: their own speed and their current direction. They can control their speed and their direction in response to the differences they detect relative to nearby birds. Their goal is to fly with the flock. Which causal loop diagrams show how they might avoid collisions?