Author: zhengham

Personal Accomplishment

• Fixed our leaking problem by applying Teflon tape to the adaptors and rescrewing them on.
  • Example: 
  • Product Link
• Helped with the final slides for final presentation and the final poster.
• Helped testing full system and stability.

Next Week Goals:

• Since it will be the final week, we’ll be focusing on creating the final video and reports to be handed in, as well as preparing for the in person demo next week.

Status: On Schedule

This week, our team focused on finalizing complete system integration and verifying performance through testing. All subsystems were fully integrated and evaluated with tests that include multiple user input scenarios.

We completed all valve wiring for our six-drink setup and reinforced stability to prepare the system for final presentation and demo. 4 legs were added to the platform for support while freeing up space for hiding and protecting circuitry underneath and improving vertical spacing for fluid flow. We also drilled routing paths for wires and tubing to reduce clutter and providing guided paths for flow. The stirrer was finalized and mounted, providing a fixed, reliable zone for users to place cups.

On the software side, we updated the WebApp styling with custom CSS to improve user experience and performed full testing using the ingredients page, drink product page, and recommendation system with voice input. Across more than 50 test cases, the correct valves fired with 100% accuracy, confirming that our communication protocol and pin mappings are functioning reliably.

Next week, since it’s going to be the final week, we plan to focus on:

• Final system tuning on stability and reliability during live operation.
• Preparing the final presentation and demo.
• Completing the final report, video, and poster.

Risks and Mitigation

• Risk: Overload or wiring disconnects during the presentation due to physical movement or instability.
  • Mitigation: Clamps and cable management have been added; the system will be monitored closely during the demo.
• Risk: Timing desync between stirring, dispensing, and garnish placement.
  • Mitigation: Predefined command sequences and Arduino checkpoints were implemented to ensure correct handshakes between components.

Design Changes

• There were no major system-level design changes this week. All modifications were focused on finalized physical layout improvements (e.g., base fixing, wiring paths) and UI refinement.

We are currently on schedule.

This week, our team focused on completing functionality tests and adjustments for individual components and made significant progress towards full-system integration. Most of the main components — valve dispensing, rotating garnish wheel, robotic arm — are all operational individually (save for the stirrer which is still being manufactured and testing) and we began putting them together with the control of the webapp interface.

The garnish wheel was integrated with the solenoidal valve system, allowing both components to operate with signal commands from the webapp. A drink holding structure was also constructed using wood scraps from the shop, providing a stable base to support multiple bottles and tubing. Circuitry was further organized and cleaned up to support safe and scalable wiring

On the backend, the WebApp was updated to support garnish selection and ingredient amounts, and these inputs were mapped to specific valve and garnish wheel controls. This lays the groundwork for user interaction and future testing of custom drink combinations.

On the motion control side, the robotic arm was recalibrated for full-range motion, and the stirring mechanism’s circuit and 3D model were ready for printing and testing.

Next week, we plan to physically integrate the robotic arm to the rest of the system, and begin working on component timing and coordination to prepare for the mid-term demo.

Main challenges will include synchronizing the timing between dispensing, stirring, and garnishing, and ensuring physical stability across all components during operation, while keeping the workspace clean and safe since we are dealing with a lot of liquid.

We remain on schedule, but integration and testing in the coming weeks will be critical.

Personal Accomplishments

• Completed the circuit and 3D model for the stirring mechanism, preparing it for physical printing and testing.

  

• Recalibrated the robotic arm’s control software and hardware, expanding its operational range from a limited 1/4 of its surrounding space to nearly full-range motion. This involved modifying control parameters in the existing library and validating smooth, stable movement across all angles. Calibration Testing: Link

• Assisted in debugging and integrating the wheel structure with the valve system, helping wire and test hardware connections to ensure consistent and coordinated motion between modules.

Next Week Deliverables

• Physically integrate and test the stirring mechanism, confirming its performance and compatibility with the drink mixing process.

• Integrate the robotic arm into the complete system, ensuring it functions with the valves, garnish wheel, and WebApp.

Status Report: On Schedule

Personal Accomplishments

• Debugged and fixed circuitry for the solenoid valve and motor driver, ensuring consistent activation and response time.
• Refined robotic arm control, enabling it to execute a sequence of pose-changing commands to grab and place garnishes.
  • Successfully tested the arm by picking up a chocolate ball as a placeholder garnish.
  • Designed the system to be adjustable for different garnish types, allowing flexibility for various drinks.
  • The working sample can be viewed here: Link
• Worked on the 3D printable designs for the Stirrer:

Next Week Deliverables

• Complete the stirring system design and circuitry, ensuring smooth integration with the drink mixing process.
• Work on system-wide debugging and integration, ensuring all hardware and software components communicate effectively.
• Coordinated with teammates on system-wide integration, preparing all working individual components for integration.

Status Report: On Schedule