Potential Risks and Risk Management
Upon testing the servo control logic, we noticed erratic behavior in the angle the servo would turn to. However, we narrowed this down to a mechanical issue, which has since been fixed through acquiring a new servo mount.
Overall Design Changes
No significant design changes were made during this phase of the project. The design of the mount for the servo turning the ramp was changed in light of the mechanical failure we encountered, but the functionality remains the same.
Schedule
Schedule – Gantt Chart
We are mostly on track. We plan to finish the remainder of integration Monday and work on documentation and testing for the remainder of the week before the demo.
Progress Update
Over the past weekend, we tested specific subsystems of our project. We were satisfied with many of our results; however, we also noticed that some hardware limitations constrained us. For example, we assumed when creating these specifications, we would have been able to achieve a control center latency of <400ms. However, upon implementation, we found that sending a command from the Jetson to the Arduino has a minimum latency of 2s. This does not really impact our project because we only require this communication when we have a lot more time to work with. For other parameters like the detection of different items, we are confident that with further tuning, we will be able to increase accuracy. We will repeat the tests we were unable to conduct and include the results in our final report once the system is fully integrated.
| Requirement | Target | Results |
| Control center Latency | 400ms | (max) 2s |
| Maximum Load Weight | 20lb | ~20lb |
| Detection of different items | Metal, Plastic, & Paper with 90% | ~77% |
| System sorting accuracy | 90% | – |
| Item inference speed | < 2 seconds | 1.15s |
| Overall system speed | 12 items per minute | – |
| Final Cost | < $500 | $514 |