Author: rrsood

What did you personally accomplish this week on the project? 

This week, I worked on integration testing with the QR code scanner system and the robotic arm. We realized that the robotic arm was sometimes too slow and sometimes too fast at picking up the packages, so we had to make sure that it was reliable. After tweaking the code, I tested the robotic arm’s pick up reliability and 9/10 times it was able to pick up the moving box. In addition to this, I worked extensively on the final report. We received a lot of constructive feedback for our midway reports, so I wanted to start early on the final report to work on the areas that need improvement. I wrote about half of the report so far including the introduction, use-case requirements, design and implementation sections.

Is your progress on schedule or behind? 

Our progress is on schedule!

What deliverables do you hope to complete in the next week?

Next week, we plan on doing more testing with the entire system. Specifically, we 3D printed a few boxes of different heights and we want to verify that the system picks up all three boxes reliably. I will also continue working on the final report, taking the feedback from the midway report into account.

Testing and Verification Supplement

Our testing mostly includes integration tests with the entire system. This involves running an end-to-end test by placing a box on the treadmill and seeing if the robotic arm is able to pick up the box correctly. We prefer this over software-only tests because they tell us more information about what we need to improve. For example, the arm dropped one of the boxes in one of these tests, and we realized that the end effector had significant jitter, which was causing this. As a result, we ordered a new servo for the end effector to mitigate the jitter that was causing the box to be dropped. Our measured results include the number of times the box is able to be picked up reliably. For example, we test the end-to-end process 10 times and see how many times the robotic arm does its job. Initially, it was only getting it right 1 or 2 times out of 10, but now it gets it right pretty much every time. These are the most important metrics that we look at.

What did you personally accomplish this week on the project? 

This week, we made huge progress on combining all of the working parts together. Namely, the robotic arm is now able to pick up objects off of the conveyor belt, which is the MVP for our project (see slack for video). My contribution to this mainly involved writing Arduino code that controls the arm. I wrote a significant portion of the code that controls the third motor (horizontal axis) which allows the robotic arm to move side-to-side (so that it can drop off the box after picking it up). This was the final piece of the code that enabled our arm to pick up and drop off boxes in their bins. I also continued working on some of the extra features I wanted to add from last week (the ML object detection code) in parallel.

Is your progress on schedule or behind?

Our progress is on schedule!

What deliverables do you hope to complete in the next week?

While our robotic arm picks up and drops of boxes correctly, it is quite slow. It takes about 15-20 seconds for the entire process of picking up and dropping the box. We want to increase the speed of this overall process and bring it down to  ~5 seconds for the entire process. This will involve increasing the RPMs of the motor and writing code to handle this. We will also have to test that the arm doesn’t make more mistakes because of the increased speed. Additionally, we want to begin hooking up the camera system to the robotic arm so that we can pick up objects with the QR code detection.

What did you personally accomplish this week on the project? Give files or
photos that demonstrate your progress. 

This week I helped with integrating the camera system with the treadmill and verifying that QR codes could be scanned. We tested the camera at varying heights and positions on the treadmill and marked the region that we found was the best for positioning (far enough from the head of the treadmill to place boxes and high enough to see the entire width of the treadmill).

Since we have completed a lot of the software already, I decided to work on some extra “nice-to-have” features for our software. Namely, I wanted to add an ML component to the project, so I decided to start working on a system that detects objects on a treadmill. My idea was that instead of QR codes labelling the category of each box, which can be tedious in real life, we could have the algorithm determine the object using CV. This is a reach goal for our project because getting an accurate classifer for a variety of objects and integrating it into the system is a difficult task. Nevertheless, this week I started coding up the classification algorithm using PyTorch and Torchvision.

Is your progress on schedule or behind? If you are behind, what actions will be
taken to catch up to the project schedule?

Our progress is on schedule! We have ordered and received pretty much all of the parts we need and are starting to integrate various components of the project together.

What deliverables do you hope to complete in the next week?

Next week, we want to start testing our software on the robotic arm and Arduino microcontroller. This will be the first major integration test, verifying that the different components of our project work correctly together. That will be the main focus for next week. If I get time outside of that, I want to continue working on my CV piece to see if I can get my algorithm to identify various objects.

 

What did you personally accomplish this week on the project? Give files or
photos that demonstrate your progress. 

This week, we got the computer vision system set up started. Our camera got delivered and we verified that it was able to scan and track QR codes, which is essential to our system working. We also finished testing the kinematic equation solver and verified that it is working completely (via matplotlib simulation). In addition to all of this, I spent a lot of time on the design report, making sure we included a significant amount of detail for each part. I focused on the Abstract, Introduction, Use-Case Requirements and Architecture portions of the report.

Is your progress on schedule or behind? 

I think our progress is actually ahead of schedule. We are closing in on getting the MVP to work soon after the break!

What deliverables do you hope to complete in the next week?

For after the break, we want to start simulating the software on the robotic arm and the camera. For instance, we want to get the kinematic equations to work with the robotic arm and see if it is able to pick up objects. We also want to get the camera working with the CV software and be able to take the scanned QR codes, convert them to numbers and send this information back to the robotic arm so that it knows where to place the box.

What did you personally accomplish this week on the project? Give files or
photos that demonstrate your progress.

This week I continued working on the software for our robotic arm. I tested the kinematic equations to make sure they were working as expected. To do this, I created a bunch of test cases for robotic arm positions and their corresponding angles and verified that our equations solved them correctly. Other than that, I started to work on the design report, adding information from our slide deck as well as the feedback we received. We also ordered and received the camera that we will be using for the box localization, which will be a major part of the project.

Is your progress on schedule or behind? If you are behind, what actions will be
taken to catch up to the project schedule?

Our progress is on schedule as we received many of the parts we plan on using and have a solid start on the software component of the project.

What deliverables do you hope to complete in the next week?

Next week, I plan to help set up the camera and integrate it into our system. We want to ensure that we can receive images correctly to our computer that we will eventually pipeline into the CV algorithm. Other than that, if we have time, I plan on working more on the CV code and testing it with the images we get from our camera. This will be a sort of integration test for the entire CV system to ensure that it is working as expected. I also plan on helping finish the design report due next week.

Main Status Report

What did you personally accomplish this week on the project? 

This week, I made a lot of progress on the software aspects of the project. Specifically, we wrote the basic forward and inverse kinematic equations in Python to derive the position and angle the robotic arms need to be in for a particular object. This is the heart of the software that controls the robotic arm, so finishing the basic code for it this week was a huge accomplishment. I also worked on the design presentation with Marcus for next week, making the suggested improvements from the proposal presentation. Specifically, we worked on making the slides less text-heavy, including more diagrams and formatting the slides better.

Is your progress on schedule or behind? If you are behind, what actions will be
taken to catch up to the project schedule?

I think our progress is on schedule, especially because we got a major software component finished this week.

What deliverables do you hope to complete in the next week?

Next week, I plan on simulating the kinematic equations solver in Python to verify that it works as expected. Matplotlib  has various simulators that can work for this. We basically just need to verify that the angles and position of the robotic arm are as expected. We also might get started on the CV aspect of this project, which involves recognizing QR codes and telling the robotic arms what to do in each category of QR code.

1.) Accomplishments for this week: This week I was responsible for presenting the project proposal, so I focused a lot on that. I spent a significant amount of time researching various aspects of the project including the software we plan on using for the forward and inverse kinematic equations for the arm movement as well as the computer vision models for QR code detection. For instance, I found this very useful blog post on the implementation of kinematics in C++ (https://medium.com/geekculture/inverse-kinematics-solver-in-c-e999f1b7f353), which is what we plan on working with for the project.  I then practiced presenting this information concisely for the proposal presentation. After the presentation,  I thought about and documented some of the feedback we received. One critical feedback that I documented was that we need to think about whether we want our boxes to have variable or fixed height, which we will have to take into consideration for the kinematic equations. I discussed this with the team and we believe that our scope will be for fixed length boxes as our focus is going to be on getting the robotic arm to work correctly.

2.) Is my progress up to date?: Yes, I believe that we are up to date on the project so far. We spent a lot of time doing research on this project and we are now ready to move towards the implementation phase, which will begin next week.

3.) Deliverables for next week: Next week we want to begin programming the kinematic equation solver. We believe that this will be the most challenging aspect of the software, so we want to begin as early as we can. Ideally, for next week, we hope to have the forward kinematic solver completed and unit tested. I plan on working with Matt on this implementation and testing the forward solver as well. This won’t be a final test for the functionality as unit-testing can only do so much, but I think this will be a solid first step toward the software aspect of this project. If we get extra time outside of this, we might also start looking into QR code data sets that we can use in our CV model.