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Kaya’s Status Report 4/12

Accomplishments this week:
This week, I integrated our wall detection distance code with our haptic code. Now, our code can detect walls and we get a haptic response for when a wall is detected. Additionally, I worked Cynthia on trying to make our model faster and less laggy by changing up our model code.  Lastly, towards the end of the week, I assisted Maya on integrating the FSR’s with our entire code so that the model only runs when the FSRs are triggered.

Reflection on schedule:
We are right on schedule since the integration has been going smoothly. We should begin testing this upcoming week.

Plans for next week:
Perform extensive tests on each feature of the cane.

Verification: Wall Detection

  • To verify the wall detection, I plan on testing the distance at 5 different points along the top, left, and right areas of the screen. The way we are deciding if there is a wall is:
    • Check if two nearby of those 5 different points detect distances that are .05 meters away from each other respectively. If they both detect distances within .05 meters of each other, then there is a wall detected along those line (there can only be a wall detected along the left side, right side, or along the top)
  • I will be testing the accuracy by walking with the cane and measuring if the distance at those 5 points change in a consistent manner to how I am moving the cane.
  • Additionally, I plan on testing the wall detection by testing the model on various different forms of wall, ranging from a plan wall to walls with paintings and other items on it.
  • Lastly, I plan to measure if the haptic feedback will give the correct feedback in response to where the wall is detected (ex. turn left if there is a wall detected on the right).
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Kaya’s Status Report 3/29

Accomplishments this week:
I worked on reconfiguring the jetson jetpack so that we can get the correct pylibrealsense module. This involved reflashing our SD card, researching the compatible modules with our new Ubuntu v20.04, and reinstalling all of the compatible modules. After that, I wrote code for distance detection and was able to get distance detection working at 9 different points. Lastly, I was able to integrate that distance detection code with Cynthia’s CV code (see photo below for distance detection on 9 points integrated with the CV code).

Fig 1: Distance Detection on 9 points integrated with CV algorithm.

Reflection on schedule:
We did a lot this week with integrating distance, CV, and haptics so we are on track.

Plans for next week:
My plan is to work on wall detection with the distance code. Additionally, we plan on writing code for the force sensitive resistors and plan to start building our cane.

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Kaya’s Status Report 3/15

Accomplishments:

This week, I managed to successfully configure the LiDAR L515 camera with the Jetson Orin Nano. I dowloaded all of the necessary libraries including the realsense compatible with our old camera onto the Jetson. Additionally, I mapped out all of the GPIO’s that we are going to use for our peripherals and wrote a script to turn on that pin.

Progress:

We are slightly behind schedule due to our group having a busy week with greek sing. We plan on doing extra work tomorrow to catch up and put us back on track.

Future deliverables:

I plan on working with Cynthia on the making of our computer vision yolo algorithm. Additionally, I will assist Maya on the connecting of our peripherals to the breadboards.

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Kaya’s Status Update 3/8

Accomplishments:

This week, I worked on finishing the initialization of the Jetson Nano. We got it fully displayed on a monitor and I set up numerous ways to connect to the Jetson without a monitor which include ssh configuration and VNC viewer for virtual display. I also updated the Jetson operating system and installed Jetpack. Lastly, I downloaded Jupyter and Pytorch and came up with a way to remotely accessed Jupyter in the Jetson through a local browser.

Progress:

We are on schedule now that we have finished the design report and have both our Jetson and L515 camera set up.

Future deliverables:

I plan on working on setting up the software/circuits for the force sensitive resistor and haptics. Additionally, I plan on working with Cynthia on the code for the computer vision.

 

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Kaya’s Status Report for 02/15

This week, I worked on our design presentation and worked on the implementation plan, specifically finding specific devices for each of our components. I did research on various potential haptic device and various types of force sensitive resistor. Additionally, I was able to map out specific libraries we are going to use for our software integration and for our Jetson Nano programming.

Progress:

Our project is on schedule. We are planning on starting the technical tasks on Sunday by diving into the Jetson initialization.

Future deliverables:

In the upcoming week, we will be working on the Jetson Nano initialization and working on finalizing the design presentation. Our goal by the end of the next week is to have a better understanding of the Jetson environment.

 

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Kaya’s Status Report for 2/8

Kaya’s Status Report for 02/01:

This week, I focused on the first presentation we had to give. The slides I specifically focused on were the testing, verification, metrics, and part of the solution approach slide. Additionally, I was the student who presented on behalf of our group so I made sure I understood each slide in depth and practiced presenting the presentation confidently several times (presentation: Team_A7_Akinci_Meah_Voelkl). After presenting, I listened to everyone’s feedback and factored in their input for the development of the cane.

After presenting, I focused on going through the parts document, helping my teammates navigate through the paper. As for this upcoming week, I plan on getting started understanding the Jetson Nano ORIN. I am planning to take a deep dive with Maya into the configuration of this Jetson. The specific deliverables I plan on having are:

  • Set up Jetson Nano environment and troubleshoot any problems that come up.
  • Creating a log of errors and their solutions or other procedural notes that we will need in the future.

As for our progress, we are definitely on track.