The most significant risks of the project right now whether the pick up mechanism, in coordination with the rest of the design, will work well and integration between the Jetson Nano Orin and Raspberry Pi. After thorough research, receiving feedback from Professor Mukherjee, and speaking with our TA, Aidan, we decided to choose the roller mechanism. The primary consideration was the speed with which trash is collected (roller works much faster than the scoop/ grabber mechanism). The roller mechanism also allows for trash to be pushed into the storage area easily, while greater considerations and testing would need to be done for the scoop/ grabber (weigh distribution, whether the placement of trash is accurate).
In regards to the Jetson Nano Orin and Raspberry Pi, our main consideration was that the Pi requires significant power. After speaking with Aidan, we considered running the motor control on the Jetson Nano as well with the complete removal of the raspberry pi. We will test motor control on raspberry pi and check its power consumption. If we realize it to be within maintanble levels (able to be powered by same battery that will power the jetson nano), we will keep both in the final product.
This week, we also made some changes to the Gantt chart. We adjusted some tasks to allow for work time with the design review presentation and final deliverables. We also decided to use Tiny Yolov7 instead of Tiny Yolov4 as it had greater computational power.
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