This week, there were many tasks I personally accomplished on the project. First, I worked on design presentation slides and then did some research on a camera module compatible with the Jetson Nano Orin Developer Kit as the following: https://docs.google.com/document/d/1qags4xzWa6l6wguN0HfArgNEiNxMWlKxdvZhU5k9h0o/edit?usp=sharing
There were many great options suggested by Nvidia, and E-CAM50_CUNX and E-CAM25_CUNX were the ones I wanted to choose between. I talked with my teammate Ritu, I realized that we don’t need high resolution (such as 70 frames per second) as we need somewhere around 15 frames per second. As a result, I decided to go with E-CAM_50_CUNX which has a lower resolution than 25_CUNX but still fits into our resolution criterion.
Also, Hirani and I had two-three zoom meetings to finalize our design sketch for the garbage cleaning robot, in particular dimensions of the base and pick-up mechanisms. There was a major change from our proposal, where we decided to build a rotor with a conveyor belt to push the trash items in, instead of axial wheels in roller mechanisms. The reasons were that in this way we are adding technical complexities to our design and also implying ethical considerations where it helps prevent humans and animals to get hurt by the robot. We saw that this mechanism has mostly worked in water previously, but, after talking with our TA, we confirmed that it would also run well on the ground with some design modifications. Finally, we completed a block diagram that shows states of how our robot will be working in theory.
My progress is on schedule, but one thing I could not finish was setting up the camera on Nano Orin because the pins on the camera module were not compatible with the Orin for some reason. To mitigate this, I put a purchasing order for 15pin-to-22pin converter on Thursday and went through the tutorials so that I can start setting up the camera next week relatively quickly.
In the next week, I hope to complete the following tasks:
- Setting up the camera
- Define software requirements for motion and obstacle avoidance
- Start building the robot based on our finalized design sketch (which includes getting parts)
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