This week was spent running tests of our use case requirements. I worked to test the bot’s performance when starting at the edge of a 1.5m radius circle, in which three plastic bottles were placed at random. Through all this testing we discovered and attempted to fix multiple issues, including Read more…
This week we worked on the final presentation. We also made minor changes to our software pipeline to improve both speed and accuracy. We came up with a major issue with our Realsense depth readings being inaccurate for larger distances, as well as the sampling of the depth readings not Read more…
This week Serena and I made a lot of small adjustments to the pipeline to increase speed and accuracy of the system. Accuracy improvements include putting angle calculation in multitracking. Speed improvements include driving the bot with higher numbers, changing the openCV tracking algorithm to a faster one, and getting Read more…
In the beginning of this week we were preparing for final presentations and running enough tests to be able to put baseline metrics on our presentation slides. It was my turn to present, so I spent extra time preparing and practicing my presentation. The presentation went well and the slides Read more…
These past two weeks I finished the entire hardware and construction for the robot. I mounted the battery with a motor mount and mounted it to the side plank with a motor after measuring out where exactly the connection should go. I ordered a motor key that allowed me to Read more…
This week we fully put the robot together. We first created a new back trunk area to hold our batteries, placed all of our components on the lexan plate on the top of the bot, 3D printed a camera stand, finished soldering wires and taping down the cords for all Read more…
This week we made a lot of progress testing our system as a whole. Over Thanksgiving break and this past week we put together the entire system on the robot and cleaned it up so that we could do proper remote testing, including 3d printing a camera mount, taping all Read more…
This week the team put in a lot of effort to integrate our software and hardware into a working system. I wrote the rest of the logic for the software pipeline, including obstacle avoidance and rotation upon not detecting bottles. Serena and I figured out how to command the Arduino Read more…
This week Serena and I worked extensively to get cuda working with Tamal’s help. We tried many things from flashing Jetpack5 on the Xavier to flashing Jetpack 4.6.1 on the Jetson Nano but could not get a working pytorch with cuda available combined with a working pyrealsense2. Our plan for Read more…
This week was full of setbacks for our software process. We struggled with setting up the Xavier with Jetpack 5.0 then discovered that it while it allowed us to access CUDA, was difficult to be compatible with the pyrealsense2 library due to the python3 version being python3.8 rather than the Read more…