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Raymond’s Status Report 3/8/25

This week the goal was to get the FPGA programmed to be able to receive the sensor data from the IMU as well as be able to output a signal such that the motors are driven. I was working with the PYNQ environment and had some trouble getting the environment set up. Eventually, though, I was able to get the PYNQ environment working, but I still had problems getting the sensor data. There is nothing showing up in the place where I expect the data to be. I wasn’t able to debug it for too long because I left for spring break early.

The progress is behind because our team wanted to get the goals of reading the IMU data and outputting a PWM signal to the motors done, but we were unable to get it done successfully. I plan on getting the IMU sensor data receiving working by Wednesday, by trying to debug the system. I also plan to get the motor output done by Wednesday. By the end of the week, I can work on incorporating the IMU sensor fusion algorithm in Vitis so that the raw IMU data can be seen as positional/angular data, which will be useful for us.

 

Part B:

With cultural factors, because we are automating hazardous materials transport, there are the considerations in law for who will be responsible if a device such as our Slope Stabilizer Robot were to injure someone. We want it so that robots can be used to aid humans to reduce the risk of injuries, but we also don’t want to take away from human jobs. Our simple user interface makes it accessible across language barriers and varying technical expertise levels, allowing for diverse workplace environments.

 

Part C:

From an environmental perspective, the Slope Stabilizer Robot offers significant benefits by substantially reducing the risk of chemical spills that could contaminate the environment such as soil or water. The current prototype uses wooden components, a renewable resource with lower carbon footprint than plastics,  and future iterations could incorporate more sustainable materials and energy-efficient systems.

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Team Weekly Update (3/8/25)

One significant risk is the time required to work with the FPGA and IMUs to obtain accurate inputs and outputs. Calibrating these components and ensuring they correctly control the robot is a major challenge. If we fail to do this efficiently, we risk not meeting our Minimum Viable Product (MVP). To mitigate this, we are prioritizing early testing and debugging sessions to identify and resolve issues as soon as possible. Additionally, we are documenting calibration steps to streamline the process for future iterations.

We modified the design by mounting the linear actuators (LAs) directly on the wheelbase instead of using an additional layer. The extra layer added unnecessary complexity, so removing it simplifies assembly. However, this change exposes the board to potential water spills. To address this, we will reinforce the platform’s edges with a polymer sealant to prevent water from seeping into critical components.

No schedule changes were made.

PART A:

Our slope-stabilizing robot enhances workplace safety and automation by ensuring the secure transportation of goods across uneven terrain. Industries such as construction and chemical handling face significant challenges in moving materials safely, often leading to worker injuries from slips, falls, and repetitive strain. By automating these deliveries, the robot reduces physical risks while improving efficiency. Its FPGA-driven real-time stability prevents spills, minimizes human exposure to hazardous substances, and reduces the agitation of sensitive materials. Our bot not only enhances operational reliability but also contributes to safer working conditions worldwide.

Additionally, our bot plays a role in the broader trend of automation and workforce displacement. As industries worldwide integrate robotics, concerns about job loss arise. While this technology may reduce certain manual labor roles, it also creates opportunities for new technical and maintenance jobs. In hazardous industries, such as chemical transport or waste management, automation significantly reduces human exposure to dangerous materials. This improves long-term health outcomes for workers globally.

For the additional prompts, Sara was responsible for part A, while Raymond was responsible for parts B and C. This reflects equal load distribution because Sara was previously responsible for 2 prompts.

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Sara’s Weekly Update (3/8/25)

This week, I worked on the Design Report. I also attached the mounts for the motors. We decided not to use a second board because we could put the linear actuators (LA) on the wheelbase. So, I decided to attach the mounts as the second board would have made changes to the wheelbase harder, which we are not using.

IMG 1: Board with mounts

I worked on soldering the pins for one of the IMUs. My first attempt was poor due to the fact I did not fully some of the pins to the metal parts of the board. I desoldered and redid the process later, which provided a much smoother solder on the board.

IMG 2: IMU with Solder

I was able to glue two sides on the platform board. I also cut out the other sides for this board.

I am a little behind on the platform board. I plan to solely focus on building this week to compensate. I cut the sides too large and need to be sanded or ground down a bit. I plan on doing this immediately on Monday.

I plan on using double-sided tape to stick the electronics on the board since it is easier to remove.

Next week, my main goal is to finish the body. I want to complete the platform board assembly by Wednesday. By Friday, I will mount and secure the pistons. Toward the end of the week, I will begin wiring and positioning the electronics.