During the week prior to the fall break, we focused on our design review report for the project. I completed the use case/design requirements, design trade studies, and related work parts. In the related work part, I looked into the team that has a similar project last year, discussed their problems and ways we could do better. Some of these thoughts are reflected in the trade studies part because we modified our design several times to combine the gantry system and robot ideas.
Also, we received our central control unit: Nvidia Jetson Orin Nano. At the same time, we tested some basic circuits during the class time at Techspark. Also, we implemented some testing on the camera we have because we haven’t got the ordered camera yet. We looked into come basic implementation regarding image filtering and segmentation and we will continue to work on our original camera next week. After we got the Stereo Camera Nvidia Jetson Nano, we will compare these two devices and pick the one that is easier to program.
For me, this week I mainly familiarize myself with the Nvidia Jetson Orin Nano. There are detailed descriptions on Nvidia website regarding the ports names and usage. With my own keyboard and monitor, I’m able to connect the Jetson Nano with them using the DisplayPort connector. Then I was able to begin programming. At the same time, I gathered info about the gpio header pinout.
https://jetsonhacks.com/nvidia-jetson-orin-nano-gpio-header-pinout/
I followed this pinout to implemented some basic testings, for example use wires and breadboard to light up and LED, power a motor driver, etc. Also, this pins support UART, SPI as well as I2C communication protocols. I also test the existing camera with the Jetson Nano to complete some basic image filtering. It works now but I believe further testings should be implemented because this time I randomly take pictures. Detailed testing regarding taking pictures from the bottom to view the electronic devices on top of the table should be taken into consideration. We only confirmed there are transparent acrylic boards in Techspark but haven’t test them together with camera. I also dig into camera settings and found that environmental lights may also affect image filtering results, so we assume this table is placed indoor without too strong light from the top.
Overall, my progress is on schedule. During this week I begin to familiarize myself with Nvidia Jetson Nano and implemented some basic testings. Next week we will combine the Jetson Nano with components that will arrive. We will continue to develop the image filtering code with our existing camera. At the same time we will begin to construct the gantry system as well after receive the corresponding components.