This week I made a lot of progress with implementing the design of the robot. In the beginning I worked with Professor Haider on cutting holes in our piece of lexan to go on top of the faceplate. She showed me how to use a Hole saw and we cut Read more…
This week we all got together to build the structure on top of the iRobot, forming a box on top of the iRobot including the intake. Since our battery pack for the Jetson came in, I figured out how to ssh into the Jetson and test without the Jetson needing Read more…
This week we focused on improving the bottle detection algorithm as well as building the structure of the intake mechanism on the iRobot. We were able to ssh into the Jetson, which has allowed us to do more field testing. For the bottle detection algorithm side, one main issue we’re Read more…
This week, we worked as a team to get the robot structure built. Meghana and I placed additional orders for and picked up the rest of the wood from HomeDepot and hence we were able to begin constructing the frame on the robot. We cut the anchor part that attaches Read more…
This week we focused on the design report and testing. We tested the bottle detection algorithm on the Realsense and found that it is only classifying bottles that are a short distance away, approximately .3 meters. Mae will work to increase this range to 2 meters next week. We also Read more…
This week we primarily focused on the design report. We changed our use case requirement to the robot being able to pick water bottles up within a 1 meter radius, meaning that it should be able to see bottles from 2 meters away. With our testing right now, the bottle Read more…
These past two weeks I tested the robot intake with Serena and Mae, worked on ordering more necessary parts for the robot, updated the CAD to add passive wheels and worked on the Design Report. For the robot intake, I wanted to figure out a way to test it out Read more…
This week we all worked on the design review presentation and I presented in the design review. With the introduction of obstacles, I modified the dataset to have all non-plastic bottle items be in the “obstacle” class. I trained the model on the new dataset annotations and got good results. Read more…
After the last status update last weekend, I CADed the basic parts of the robot. Below are pictures of the CADed robot from different angles. While I was CADing the robot, I also had to figure out exactly what parts to use and do research on one part over another. Read more…
This week Serena and I worked out more details of the software system, since we decided to add obstacles and obstacle avoidance to our use case requirements. We plan to add an obstacle class to the detection model and implement OpenCV object tracking so that our LiDAR can distinguish which Read more…