The most significant risk we are encountering right now is not being able to integrate all the components (from Jetson Orin to ultrasonic sensors) until the final demo. However, we are managing to mitigate this risk by committing more time and distributing work to speed up the process. Also, we are trying to think further about any potential challenges with our current robot so that we have enough time to debug and implement features properly. Our contingency plan is to devote the entire day or two for the capstone project so that all the work can be done within these hours.
Another risk is the safety issue. During testing, we figured out it is very hard to manage the robot when it is under operation since it is very bulky. Because we were not able to predict the behavior of the motors during debugging, the robot would move in any unexpected direction. We had to block it physically to make it stop, but thought it would not be ideal to do so. Therefore, we decided to put two ultrasonic sensor on the top so that one would catch the obstacles if the other is not sufficient. This way, we can make sure the robot will not run into objects and damage them or hurt people. Another plan is to allow a keyboard interrupt so that the robot will be halted right away when we press ctrl + c.
There was no change in design, but we switched the motors with higher torques (6.5 kg*s/m). This change was necessary because the torque below 2 kg*s/m was not sufficient to hold our heavy robot. It needed more torque to make the wheels turn. It costs us about 60 dollars to purchase 4 new motors, but this cost will be mitigated by returning the old motors as they are worth 30 dollars in total. Also, we are planning to return other unused items which will cancel out the over-budget issue.
We are behind the schedule in terms of testing. However, the testing will be done intensely for the next week so that we are prepared for the final demo. No other changes for the existing schedule.
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