{"id":259,"date":"2023-04-30T03:09:05","date_gmt":"2023-04-30T03:09:05","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/?p=259"},"modified":"2023-04-30T03:09:05","modified_gmt":"2023-04-30T03:09:05","slug":"team-report-4-29-2023","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/2023\/04\/30\/team-report-4-29-2023\/","title":{"rendered":"Team Report 4\/29\/2023"},"content":{"rendered":"<p><strong>Significant Risks:<\/strong><\/p>\n<ul>\n<li>Docking Procedure may not be entirely robust\n<ul>\n<li>Should be enough as an MVP and for majority of cases<\/li>\n<li>There may be edge cases where the system does not dock properly (next to a wall, in a corner, next to\/under a table<\/li>\n<\/ul>\n<\/li>\n<li>Arm lift may not hit the 10 lbs described, but can lift empty bin and possibly more for testing<\/li>\n<li>Battery bank is not going to last the desired five hours of runtime, but we do not consider this a major risk, as it does not change the functionality of the Robot<\/li>\n<\/ul>\n<p><strong>Design Changes:<\/strong><\/p>\n<ul>\n<li>Added back rear facing camera for bin docking alignment\n<ul>\n<li>The LiDAR didn&#8217;t provide enough depth differentiation of the bin when placed up against a wall, so alignment without a rear camera was difficult<\/li>\n<\/ul>\n<\/li>\n<li>No changes have occurred on the hardware side since the last report<\/li>\n<\/ul>\n<p>Schedule\/PM<\/p>\n<ul>\n<li>Still slightly behind on test\/integration, will be making use of finals week<\/li>\n<li>Hardware freeze will be occurring tomorrow since the bin lift system has been verified\n<ul>\n<li>Components glued down and fixed in place for the final time<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><strong>Testing:\u00a0<\/strong><\/p>\n<ul>\n<li>aRUco Identification test (success)<\/li>\n<li>Navstack Test (success)<\/li>\n<li>Bin lift test\n<ul>\n<li>Basic lift without additional weight (success)<\/li>\n<li>10lb lift (extrapolated for failure)<\/li>\n<\/ul>\n<\/li>\n<li>Movement Speed Test (success)<\/li>\n<li>Human Collision Test (success)<\/li>\n<li>Preliminary bin alignment for bin docking subsystem test\n<ul>\n<li>Changed design to include 2nd web cam after finding LiDAR object detection being unreliable<\/li>\n<li>More robust docking test with arms to lift bins are needed<\/li>\n<\/ul>\n<\/li>\n<li>Integration testing left for next week after hardware freeze is done<\/li>\n<li>2 Battery tests, one projected for failure, this weeks test showed 80% battery drainage over 4 hours. We ordered a new Roomba battery from last week, considering design changes for additional battery for battery bank.<\/li>\n<li>Testing results : https:\/\/docs.google.com\/spreadsheets\/d\/1Fv7A8lMn3GBn9MV8tf394E4ilYxbIwjUDCy7U3aQ8g0\/edit?usp=sharing<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Significant Risks: Docking Procedure may not be entirely robust Should be enough as an MVP and for majority of cases There may be edge cases where the system does not dock properly (next to a wall, in a corner, next to\/under a table Arm lift may not hit the 10 lbs described, but can lift &hellip; <\/p>\n<p class=\"link-more\"><a href=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/2023\/04\/30\/team-report-4-29-2023\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Team Report 4\/29\/2023&#8221;<\/span><\/a><\/p>\n","protected":false},"author":666,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[5],"tags":[],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/posts\/259"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/users\/666"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/comments?post=259"}],"version-history":[{"count":5,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/posts\/259\/revisions"}],"predecessor-version":[{"id":265,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/posts\/259\/revisions\/265"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/media?parent=259"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/categories?post=259"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s23-teamb4\/wp-json\/wp\/v2\/tags?post=259"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}