Team Status Report for 3/08/2025

Since we’ve all been on schedule so far, we took Spring Break off. During the last week of February, we made progress on our prototype and have moved closer to system integration/testing.

Theo built the prototype’s structure, and we’re now just waiting on the suction cup and its mounting components to finish it. See his section for specifics and a photo of the prototype on our scanner. He also made some basic serial code for sending rotation and pumping commands, as well as python code for interfacing over serial. He’ll be working with Sophia to integrate a better version of this in the final control software.

Besides the serial code, Sophia did trial tests of the flatbed scanner with the controller software and found that it had issues with no clear solution. After many attempts and guesses at what was going wrong with the scanner to computer communication, and Theo after attempting to setup the project but finding it incompatible with newer versions of Linux, she’ll be pivoting to a more modular approach that will use unique and more compatible libraries for each OS, keeping the individual OS scanning processes in separate files. This will mean a more incremental approach to ensuring each OS works well without jeopardizing the states of the other OS’s and it won’t rely on an outdated dotnet framework (NAPS2 needed version 4.8, was only supported at all to version 8, current version is version 9).

Yon finished working out the math for normal map construction and detailed his findings in the design report. He also identified 3D scanners we can use for qualification, which gives both Yon and Theo some work next week in designing and manufacturing a test object. Now that a basic python version of the normal map code is implemented and can be used for testing Theo and Sophia’s subsystems, Yon will turn to implementing the normal map math in the design report. He also still has to identify a normal map to depth map pipeline, which can be achieved either in a custom implementation, a C library, or externally through another blender plugin / tool.

A was written by Theo, B was written by Yon, and C was written by Sophia.

Part A: On the global scale, our project has possible uses in the fields of archeology, history, and design. There are no limiting factors in who across the world could access/utilize flatbed 3D scanning besides a possible language barrier in the software (which is easily translatable).

People not in the academic environment would be more likely to use this as hobbyists who want to get detailed scans of their art, sculptures, or other detailed objects. There is a small subculture of photographers who use scanners for their high DPI, and such a group would likely be eager to map their hobby into a third dimension that they can interact with via Blender or other .obj-friendly software.

There is an emphasis throughout our project on making the scanning process user-friendly and hands-off. While this is mainly meant to accommodate repetitive data acquisition, less tech-savvy people would only have to deal with a few more steps than when using a flatbed scanner normally (place manipulator, plug in cables, run software).

Part B: Our project implements a cheap and accessible way to 3D scan small objects. One significant area of application for this technology is in archeology and preservation where cheap, quick, and onsite digitization of cultural artifacts can help preserve clotures and assist dialog and discourse around them.

That said, all technology is a double edged sword. The ability to create quick replicas of historical artifacts makes them vulnerable to pop cloture-ification which could manifest in cultural appropriation.

Part C: Our project uses a low power draw, which is an environmental boon. Especially considering its competitors are larger, complicated machines that would use more energy. Our project also leverages an existing technology, therefore reusing devices and not requiring buying a larger version that uses much more material and energy in manufacturing and usage.

The simplicity of our project also lends itself to environmentalism, since we don’t use any cloud storage, AI features, or other massive energy consumption processes. We don’t even use a separate battery, drawing power from the computer through USB. Open source projects like ours are also generally more sustainable than completely commercialized sources.

Environmental organisms and discoveries can even be captured for future research and knowledge using our project. Since archaeology is a key audience, it’s not a stretch to extend that into general biology. Scanning small bones, skeletons, feathers, footprints, or other small biological features would be possible as long as they aren’t particularly frail. This contributes to the knowledge bank of biological organisms, furthering science’s understanding. The Smithsonian for example has a public access bank of 3D scans, so our project would be perfectly suited to its use for small, detailed objects.

Theo’s Status Report for 3/08/2025

I’ve taken the past week off for Spring Break since I’m on schedule. The week before, we received the parts for the manipulator’s structure, so I actually built it (see image below). The parts all fit together besides the 3D printed mount, which needs slightly larger holes for the stepper motor to fit inside. We’ll 3D print this when we return to campus. So far, we’ve noticed slight instability and rough motion when trying to move the 3D printed mount up and down the screws with spacers. If the next iteration’s larger holes don’t enable the smooth and stable motion we want, then we’ll look into linear bearings or something similar.

We’ve also further theorized possible solutions to picking the object up during rotation. Currently, solenoids on the mount that push off of the second layer of T-channel extrusions is our best idea. This would likely work, and we would use at least two in order to deliver equal/symmetric force while sliding up the screws.

My next steps include finishing the troubleshooting on this 3D print, helping Sophia with integrating my basic serial test code with her control software, and designing + optimizing the 3D printed shaft-suction cup piece that we’ll use to connect the vacuum pump tubes and the stepper motor to the suction cup.

Our manipulator prototype on our scanner.

Team Status Report for 2/22/2025

This week has been one of preparation and prototyping. Our Adafruit and first Amazon orders arrived, and we were able to run a test circuit where we checked that both the stepper motor and air pump could be powered and controlled. Electronics-wise, everything is fine; we’ll be waiting for the rest of our orders to come in before we can build our complete prototype. The 3D printed electronics mount had too little clearance in all of its holes, so we’ll be re-printing it with an extra 0.25mm of radius this week.

Software-wise, NAPS2 is proving to be the correct library choice. Sophia was able to implement OS-specific functionality, and the preliminary work can run on Windows and Linux. There is also a consistent file system for saving completed scans. The next steps will be testing computer-printer interactions.

On the signals end, Yon has continued to make progress on the scan/object mapping and has found new research that we may be able to draw inspiration from.

As of right now, we’re currently all on schedule. The only foreseeable issue in the project right now is the possibility of an object with an abrasive surface scratching the bed of the scanner while rotating. We’ll tackle this during the characterization of our prototype, and the most likely solution will be motorizing the vertical movement of the electronics mount so that we pick up the object before rotating it and let it down before we scan it.

Theo’s Status Report for 2/22/2025

This week, I practiced more for my presentation before presenting on Wednesday and spent time figuring out the suction cup’s connection to the stepper motor. I found a shaft coupler that doubles as a mounting platform, to which I’ll attach a 3D printed mount for the suction cup that allows it to be rotated by the stepper motor while connected to the air pump. I ordered this, along with some more air tubing connectors and 3mm mounting screws (our stepper motor didn’t come with any), in our second amazon order. Our first amazon order and our adafruit order came in later this week, and I picked them up along with the 3D printed circuits mount (see electronics in github). The holes on the mount needed the slightest bit more clearance, so I added 0.25mm to the radius of each hole. We’ll 3D print it this weekend or next week.

On Saturday, I started prototyping with the electronics that had come in from Adafruit and was able to control the stepper motor and air pump over serial. I’ve attached a picture of the setup below. Now I’ll wait for our new 3D printed mount, the suction cup, and the rest of the structure/hardware to come in before building a complete prototype.

Theo’s Status Report for 2/15/25

This past week I prioritized finishing the manipulator design and ordering the parts. I also finished the CAD mockup, including the first prototype of a 3D printed mount for the electronics. It will freely move vertically on top of the manipulator to account for objects of different heights/thicknesses. I’ll 3D print this mount and test it once the ordered parts have arrived and the rest of the manipulator is put together.

Though I’m still behind on my tasks from the roadmap, a lot of future time was allocated to debugging the hardware, characterizing the working prototype, and designing a new version with a suction cup manipulator (instead of just a friction tip); this time may as well be slack time that’s instead used for this prototype. We’ve gone ahead and ordered the air pump, tubing, and suction cup with the rest of our parts. The suction cup is the same material and size (silicone for high coeff. of friction, 13mm diameter to fit behind a dime or similar coin) as we would’ve made the friction tip, so we will simply test the prototype with and without activating suction instead of needing to build an entirely new prototype/add-on. I believe this will be a massive time save, and don’t foresee any issues with the current design. I’ve uploaded the solidworks assembly+relevant files to github.

Besides working on the design and prototype, I’ve worked with my team on the design review presentation slides. I’ll be presenting on either Monday or Wednesday, and the tentative plan is to finish a draft early enough tonight or tomorrow so that our TA can look it over and give advice.

Theo’s Status Report for 2/08/2025

My work this past week consisted of helping with the proposal presentation and drafting a prototype + its CAD model. I was responsible for the hardware requirements, specifications, and solutions in the proposal, and helped with edits to the entire presentation in the time leading up to presentation day.

The CAD model is a few days behind schedule according to the roadmap. This is mainly due to me wanting to render the functioning linear actuator/lead screw, rotation motor, and microcontroller. I am still working on this model and have additional free time this week to catch up. The current prototype will be built out of 1-inch T-slot aluminum extrusions (CADing done with parts from 80/20), using an ESP32 dev board capable of operating a motor driver and at least one stepper or servo motor. I am still weighing the pros and cons of a linear actuator vs a manual lead screw, as well as a stepper motor vs a servo motor. The circuit will likely need an external power supply to power any of these motors, since the traces on an ESP32 won’t handle the power necessary to keep the motor powered over an extended period. This should all be resolved and the parts can be ordered by the end of next week. Though this places the hardware behind schedule, I am not worried. Assembly will be simple and can be done the day the parts arrive, and all should be back on track after that; the characterization task that comes after assembly should really only take a day or two, and the programming itself will be simple motor control. There is plenty of slack time in these first few hardware tasks that allow for this setback.

I’ve started on a basic arduino program for controlling the ESP32 and testing the stepper motor system’s accuracy. One of the first things we’ll be testing once we have the ESP32 is our ability to send it commands from our project’s software. If the arduino IDE/language doesn’t work, MicroPython is the next most likely route of hardware programming.