Author: qimengy

Team Status Report for 2/21

System Progress

This week, we completed all purchase orders for our main system components. The remaining items to be ordered include the trash bin, a buck converter for voltage regulation, and a mounting clipper/bracket to secure the camera on top of the trash bin.

With the core components already ordered, we are now positioned to begin physical integration once the deliveries arrive.

System Design & Changes

No changes were made to the existing system design, requirements, block diagram, or specifications this week. The architecture remains consistent with our previous proposal, and all component selections align with our defined system requirements.

Risk & mitigation: 

The primary risk at this stage is that our total spending is approaching the $600 budget limit. Although we have already purchased the major components, the remaining purchases leave little margin for unexpected expenses. To manage this risk, we have prioritized essential components and avoided optional upgrades. If additional costs arise during integration, we are prepared to substitute non-critical parts with lower-cost alternatives to remain within budget. 

Another concern raised this week, particularly mentioned by Professor Mukherjee, is the relatively high power consumption of the Raspberry Pi 5. While it provides strong computational capability for our computer vision implementation, its power demands may affect battery life and thermal performance. Since we have already requested the Raspberry Pi 5 from inventory, we plan to proceed with it for initial development while carefully managing power through the use of a buck converter and software optimization. If power consumption becomes a significant issue during testing, we will evaluate lower-power embedded alternatives as a contingency plan.

Next Week’s Plan

Next week, our primary focus will be on writing and finalizing the design report. At the same time, since most components are expected to arrive next week, we will begin assembling the hardware and conducting initial integration tests.

Qimeng’s Status Report for 2/14

This week I worked together with my teammates on selecting key hardware components for our system. In particular, I helped evaluate different motor chassis options and AI voice modules to ensure they meet our load capacity, control compatibility, and integration requirements. After comparing several platforms, we aligned on a chassis that supports encoder feedback and is compatible with both Raspberry Pi and STM32 control, which gives us flexibility in our system architecture.

In addition, I focused on figuring out how our different components should connect to the Raspberry Pi. I mapped out the communication interfaces and corresponding ports for each module, including the OAK-D Pro camera, ToF sensors, AI voice module, and motor control interface. Beyond hardware integration, I also worked on refining our presentation materials. Specifically, I contributed to the use case section, quantitative design requirements, system specifications, and implementation plan. 

Overall, our progress remains aligned with the planned schedule, and we have not encountered any major blockers. The next phase will focus on beginning early-stage integration once components arrive.

Qimeng’s Status Report for 2/7

This week I worked on use case requirements, testing, verification and metrics, and solution approach sections in the proposal presentation slides. I researched potential implementations for obstacle avoidance and return-to-home behavior. For obstacle avoidance, I explored using four discrete ToF sensors mounted at the four corners of the mobile base to provide close-range distance sensing and collision prevention. The current plan is to interface these ToF sensors with an Arduino for low-level distance monitoring and safety checks, although directly connecting them to the Raspberry Pi is also a feasible alternative and remains under consideration. For return-to-home localization, I investigated UWB-based solutions and proposed using two DWM1001-DEV modules, configured as one anchor and one tag, to provide a reliable reference for navigating back to the initial standby position.

Overall, my progress this week aligns well with our project schedule. For next week, I plan to focus on developing a more detailed system design, including drawing clear design and integration diagrams that illustrate how different components communicate and work together. I will also begin working on the design review presentation as well.