Posted on

Raymond’s Status Report for 2/22/25

This week, I started implementing some code on the FPGA, specifically the complementary filter for the IMU data. I looked into the different kinds of filters such as complementary, Kalman, and Madgwick filters. Ultimately I decided on the complementary filter because it is the simplest to implement. However, if the accuracy of the data is not good enough, I may move to a Kalman filter because I could use the FPGA hardware to do the necessary matrix computations. I also watched a few videos on using FPGA’s for embedded systems projects which gave me a good idea for integrating all the sensors with the FPGA.

The schedule is a little behind once again because the IMUs have not arrived yet. So, I wasn’t able to test if the FPGA can receive data from the IO pins. Once the sensors come in, I expect that I will be able to quickly test the IO ports and get the sensors integrated with the filtering algorithm.

In the next week, I hope to get the sensors integrated with the system. The motors have also arrived and the motor drivers were ordered recently, so if the motors arrive, I also expect that I can test the FPGA with the motors.

Posted on

Team Status Report for 2/22/2025

One of the biggest risks we face is the weight of the pistons. They are heavier than expected, which may affect the robot’s structural integrity. To address this, we plan to use a combination of smaller and larger pistons to lift the platform without compromising stability. If this approach is not feasible, we have two contingency plans. The first option is to use two boards instead of one to support the piston mounts. The second option is to reduce the number of pistons on the platforms to decrease overall weight. These solutions will help maintain the structural integrity of the robot while ensuring the pistons function as intended.

Another risk is the delayed delivery of parts. To mitigate this, we are working with the components we currently have and actively following up on pending deliveries to keep progress on track. While waiting for critical components, we prioritized tasks that could be completed with available materials to minimize downtime. This approach will help prevent significant disruptions to the overall project timeline.

A minor design change was made to improve stability. Initially, the robot was designed with four columns, but we increased it to six to better support the boards, pistons, and platform. This adjustment ensures the structure is strong enough to handle the load and reduces the risk of mechanical failure. However, this change also introduces a challenge: reduced space between the first and second board, which may make it more difficult to access and repair electronic components like the FPGA. As a result, we may need to disassemble parts of the robot when making adjustments. While this adds complexity to maintenance, the improvement in structural integrity outweighs the drawbacks.

Due to delays in part deliveries, we have pushed back the completion of the full design of the wheelbase, as the wheels have not yet arrived. Similarly, the FPGA system has been delayed since some components are still pending. To maintain progress, we are focusing on assembling and testing available parts while waiting for the remaining components. When the delayed parts arrive, we will focus on integrating them promptly to get the project back on schedule.

Posted on

Sara’s Weekly Update 2/22/2025

This week, I completed the base for the project. I cut the board into an 11” x 12” square and drilled the necessary holes for the column (M5) and the motor mounts. However, I only attached one motor mount instead of fully assembling the board. This decision was made to ensure enough space in our red box and to allow me to map out the electronics before the final assembly. I wanted to avoid repeatedly disassembling and reassembling the base and columns before integrating the electronics.

A significant step forward this week was the arrival of our battery boards and motors. I drilled six holes for the mount, but during this process, I noticed that pushing while drilling caused the wood around one hole to break, making it unstable. As a result, I had to cut and drill another board. Despite this setback, I am back on schedule.

IMG. 1: Cut Board (12″)

IMG. 2: Cut Board (11″)

I am slightly behind due to the delay in the arrival of the wheels, which are needed for fitting. However, aside from that, I am satisfied with my progress. Once the wheels arrive, I am confident that I can fully construct the base. To make up for this time, I plan to focus on completing the rest of the robot build and installing the pistons.

Next week, I plan to install the FPGA and other electronics onto the board, finalize the piston on the second platform, and complete the platforms holding the water.

Posted on

Raymond’s Status Report for 2/15/25

This week, I was working with Sara to figure out the entire design of our stabilizing robot. The part specifically that I was working on this week was the interfaces for the FPGA to be able to access IMU data as well as output PWM signals to the motors. I began the setup process of the FPGA, but have yet to figure out the software implementation completely. I am researching the pros and cons of using either PYNQ (Python) or Vitis (C/C++) for the software to read the IMU data. I want to use the FPGA logic elements for generating the motor outputs, however, so I am leaning toward Vitis. I have also been working with Sara to complete the Design presentation, and have been preparing for the presentation I will need to do.

Our progress is a little behind. We planned to be able to begin testing as soon as possible, but we are currently waiting for parts to arrive. So we are going to get the whole system ready such that when the right parts arrive, we already have a base that we can test the system with, instead of starting the logic designing step once the parts arrive.

Throughout the next week, after completing the presentation, I want to set up some logic on the FPGA, such that once the motors and sensors arrive, I can quickly integrate them into our system. I would like to perform the IMU sensor fusion algorithm on the FPGA, so I could start by writing a module and creating a testbench as well.

 

Posted on

Sara’s Weekly Update 2/15/2025

This week, I updated the Gantt chart to reflect our new goals for building progress. I ordered parts for the robot base, including boards, wheels, nuts, and washers. I also revised the platform design. Initially, we planned a metal frame, but we’re switching to a board-based design with motorized wheels. Wood is easier to drill into to make space for columns and mounts. If water spills, we can wipe it off.

WheelBase and Motorized Wheel

IMG. 1: Wheelbase and Motorized Wheel

I’m somewhat disappointed with our progress, as I spent too much time refining the design instead of moving forward with physical implementation. I appreciate Hyong for helping me break that habit. To catch up, I aim to complete the wheelbase with columns.

Next week, we have presentations for the design proposal, so I’ll focus on preparing the slides. Additionally, I plan to help with the base by cutting it to size (12” x 12”), drilling holes for the columns and motor mounts, and attaching the mounts.

PART A:

The slope-stabilizing robot improves public health, safety, and welfare by handling deliveries on sloped surfaces. Automating this process reduces strain on workers and lowers the risk of injuries. The FPGA ensures real-time stability, preventing spills. For hazardous chemicals, the robot minimizes human exposure and reduces long-term health risks. Its stability also prevents agitation, making chemicals safer and easier to handle.

PART B:

Socially, the robot boosts efficiency and safety by simplifying difficult deliveries. Restaurants, cafes, and event spaces can reduce labor-intensive tasks, allowing workers to focus on service. In industries handling chemicals, its stability ensures smooth uphill transport for safer handling, making it valuable for laboratories, manufacturing facilities, and medical environments.

Posted on

Team Report for 2/15/2025

We purchased new parts for the robot (IMUs, wheels, boards, motors, nuts, washers, and M5 threaded rods) and a storage box for organization. We focused on implementation and building and acquired an FPGA to enhance functionality.

One of the most significant risks is the robot’s ability to handle 45º and 60º inclines while maintaining stability. To address this, we are refining our design and testing different configurations. Another major risk is the exposure of electronic components (FPGA, IMUs, etc.) to water during testing. To mitigate this, we are using an extra board on top of the electronics as an extra shield. These were brought up in the project proposal and we decided to address these immediately.

We modified the wheelbase design to better protect the electronics and simplify construction. Rather than a plexiglass shield, we added another wooden board with threaded columns to hold everything together.

Due to our focus on research and planning, our plans were slightly delayed. As a result, we are prioritizing the integration of our current components into the wheelbase to get back on track. Next week, we will assemble the base, begin working with the FPGA, finalize the design proposal before Sunday night, and prepare for its presentation. Moving forward, we will continue refining our design while ensuring that testing and implementation remain on schedule.

As for the extra questions for this week’s status reports, A and B were written by Sara while Raymond wrote C.

PART A:

The slope-stabilizing robot improves public health, safety, and welfare by handling deliveries on sloped surfaces. Automating this process reduces strain on workers and lowers the risk of injuries. The FPGA ensures real-time stability, preventing spills. For hazardous chemicals, the robot minimizes human exposure and reduces long-term health risks. Its stability also prevents agitation, making chemicals safer and easier to handle.

PART B:

Socially, the robot boosts efficiency and safety by simplifying difficult deliveries. Restaurants, cafes, and event spaces can reduce labor-intensive tasks, allowing workers to focus on service. In industries handling chemicals, its stability ensures smooth uphill transport for safer handling, making it valuable for laboratories, manufacturing facilities, and medical environments.

PART C:

For economic considerations, although many robots are supposed to replace humans and help keep business costs down, our robot is meant to aid humans without replacing them. This robot has capabilities specifically for when dangerous chemicals can not be disturbed and shaken. For production, instead of an FPGA, it would make more sense to purchase a microcontroller as the cost of an FPGA does not offset the hardware acceleration that it provides. We are also using wood in our design because it is easy to work with, but for production, it would make more sense to use a material that is waterproof and lightweight such as plastics. This robot is designed to be small and only has a few parts, so distribution should be relatively simple compared to other more complex robotics products.

Posted on

Sara’s Post for 2/8/2025

This week, I focused on designing a wheelbase and its motor. I mainly did this after feedback from the project proposal mentioned that it would take more power to go up a 60-degree slope. This week, I considered two setups: two motors per side or one or one motor connected to wheels. The two-motor setup is way more powerful, but I still need to refine it. One motor per side needs more mechanical work and has less power, so I’m leaning toward two.

Another feedback was on how the robot’s FPGA and circuits are protected from water from our testing glasses. To protect our components, I am thinking about using a flexi-glass cover. I worked with one  Since we are working with water, we might consider components that are easy to wipe off to prevent mold from growing. Or we take extra precautions to make sure we wipe down components. We are thinking about raised edges and magic for the platform to show the water does not slide. The raised edge has to be watertight to prevent the leakage on the board.

I also put in a purchase request for a motor and motor driver, which got approved. I researched brushless motors because, as I mentioned earlier, I was worried about our robot’s ability to climb a slope. I chose 775 DC Motor 12v DC Motor High Torque DC Motor Max 20000 RPM Dual Ball Bearings Quiet Power Wheels Motor Upgrade DC Motor (this is the listing name on Amazon) because it was at a great rpm and was utilized in driveable children’s toy cars, which made me confident this could reasonably drive our robot. I researched the motor driver and I was happy that it was compatible with both the FPGA and the motor I wanted to use, and its use in electric skateboards.

This week, I focused on working on the project presentation as I was presenting. Raymond and I made sure we had the right number of slides, justification for our choices, and making sure the slides looked nice and neat.

Right now, I feel good about where I’m at. I’ve got the wheelbase design down and worked through some problems that came up during the presentation. The next big task is figuring out the lifting mechanism and finalizing a robot design. On Sunday, the design proposal is due, which is huge goal.

Posted on

Team Status Report for 2/8/25

The most significant risks that could jeopardize the success of the project are that if the parts we ordered are not able to complete the capabilities that we expect them to do. We did research into the parts that we have ordered already to ensure that they are compatible and have the basic capabilities, but you never know how well they will work until you actually begin to test them. Another point that could jeopardize the project would be if the IMUs are not precise enough. Since the basis of our project is that we need to balance cups of water precisely so that there is no spillage, we will need the IMUs to be able to provide accurate data so that we can smoothly adjust our platform to balance the cups of water.  We will manage these risks by starting early and testing early. If we figure out that some parts that we planned on using are not good enough for our project, we will continue to do research and find the parts that can do what we need. We are confident that this robot is achievable within the budget since there are many examples of robots using IMUs to perform balancing tasks online, so it will just come to figuring out the correct implementation.

As we move from the proposal stage to the design stage. we are still designing our system, so there will be many changes throughout the next week, such as what kind of platform we will use and how we will prevent water from spilling and affecting the electronics. Generally, our requirements have remained the same, but as we continue to design our system, we will be zooming into the finer details and making changes there. The costs of the small detail changes should be within the total budget and are not expected to change the cost of the device or affect the requirements.

 

 

Posted on

Raymond’s Status Report for 2/8/25

This week I worked on the proposal with Sara. We had to flesh out our use case and requirements so that we could justify everything in our proposal. When coming up with the implementation for our design, I did research into which parts would be necessary for our robot and why certain parts would be better than others. After doing some research into the Ultra 96-V2 FPGA and the KRIA KR260, and talking to professors and TAs, I decided that we should go forward with the Ultra 96-V2 FPGA to begin with. I did some research into Vitis and how it would be used to receive the IMU data and output signals to the motors.

Our progress is on schedule. We started to purchase a few parts, just to test out their compatibility with the FPGA and will begin testing next week. The FPGA is already ready for pickup, so I plan on setting it up so that when the motor and motor driver arrive, the integration should be smoother.  In the next week, we will continue to figure out the design and implementation of our robot, such as what materials and parts will be necessary for the platform. In the next week, we plan to have a complete list of parts necessary for the order and will place the order as soon as we have everything ready. This will ensure that we have the entire design complete so that we are well-prepared for the design presentation.