Theia

This week in 18-500 Drafting of the custom sensor mount This will be the custom computer drafted 3-D printed plastic board that the 4 sensors will mount to, and the board will mount to the chest harness. The reason for a custom board is because of the need for precision in the relative angles of the LiDar sensors. Below is hand drafts and measurement collections for the Computer-Model. I have begun editing in Inventor Pro. The left page is raw data measurements and drawings of…

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SPRING BREAK

After spending several hours working on the report and completing the ethics assignment (before the deadline got pushed back), I spent some more time working on the Theia iOS app.  I am slowly learning how to navigate xcode, but managed to create and connect several scenes and I think I am close to having the basic flow of the app put together.  The biggest hurdle I see coming up is figuring out how to receive information from the Raspberry Pi…

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The start of this week was spent preparing the design review report, which was due on Monday.  Since the design review presentation we have redesigned the sensor orientation on our wearable.  To avoid complications regarding interference with multiple ultrasonic sensors, we decided to instead spend our budget on additional LIDAR sensors. We had been using the ultrasonic sensors because of their wider field of view, but if we get three LIDAR sensors and orient them all at slightly different angles…

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DESIGN DOC DUE EARLY THIS WEEK The beginning of the week was focused on creating and proofing our design doc. I focused on writing up the System Design section and Wearable Design. I also worked on the Bill of materials and our updates Block Diagram (As seen below). I also design a draft of the mount that could accommodate 3 LiDar sensors at precise angles relative to each other (depicted below). The plan is to design this in Inventor-Pro and 3D print the…

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This week I did a lot of work on the object recognition part, to really explore the capabilities of OpenCV and finalize our design for this part of the project. As a group we also spent a lot of time doing the design report. I decided that the best way to do fast object recognition for this project is based on the geometrical differences between the 3 different types of objects. In experimenting with online images, I found that edge…

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This week has consisted of a lot of group work, finalizing our design requirements and specifications.  Since I was giving the design review presentation, the front half of the week was spent heavily putting that presentation together and preparing to give that during class on Wednesday. Since then, it’s been a lot of group work as we finally have all of our sensors so we can really start collecting data and figuring out how we want our final design to…

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This week was mostly spent on finalizing our requirements and design for the project for the upcoming report. As a group we worked on setting up our various sensors with the raspberry pi and testing them out. Based on testing results and the distance and angle specifications for the ultrasonic and lidar sensors, I came up with a new design and worked out all of the math for a new sensor approach with 3 Lidar sensors, that we’ve decided to…

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This week our main focus was on the Design presentation and document. We worked on compiling our work. And finalizing our sensor configuration. We got the ultrasonic sensor to work with pi through an arduino and tested it as a team. We performed tests at 2m, 4m, 6m, and 8m (at varying degrees) in the lab room and tested varying modes of the sensor. We determined that the voltage mode was most acurate but the values were very unstable at 8m….

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This week we received our first shipment of parts including a memory card for the pi and an ultrasonic sensor. I installed Raspbian on our pi and began setting it up with sensors. Setup the camera using raspistill and as a team we tested the camera. We simulated jogging with the camera sensor and captured images. We tested for latency, blurriness with movement and focal length would meet our ranges for this project. The focal length worked, the camera has…

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