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Robot Integration and Testing. Pat Arrigo – Team Lead/ME Wes Coleman – ME Steve Guenther – EE Adam Spirer – EE Vernon Vantucci – CE Aaron Zimmerman - ME. Introduction. Third Team on Project Track Inherited Project from Locomotion and Navigation Teams

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robot integration and testing

Robot Integration and Testing

Pat Arrigo – Team Lead/ME

Wes Coleman – ME

Steve Guenther – EE

Adam Spirer – EE

Vernon Vantucci– CE

Aaron Zimmerman - ME

introduction
Introduction
  • Third Team on Project Track
  • Inherited Project from Locomotion and Navigation Teams
  • Worked in parallel with Robot Applications Team
initial project expectations and goals
Initial Project Expectations and Goals
  • Fully Integrate Navigation Software/Electrical Components with Locomotion Chassis and Motors/Motor Control
  • Test Customer Specifications
  • Integrate Robot with Application Team’s Software
  • Create and Mount shell to Chassis and Paint
customer needs and specifications
Customer Needs and Specifications
  • Robot carries and cares for a plant
  • Robot moves slowly
  • Promotes innovation and green values at RIT
  • Friendly to passing pedestrians
  • Must be able to return home
  • Last an entire day of roaming
  • System uses navigation and plant sensors in order to capture real-world data, and gain an understanding of the surroundings.
  • Develop firmware for all of the sensors.
  • Develop software to perform navigational tasks using sensor data.
  • Maintain a wireless connection to a host computer in order to send status updates.

P10215

P10216

shell creation
Shell Creation
  • Small model used to prove concept
  • Sculpting full scale took longer than expected
    • Sheer scale
    • Material Differences: Styrofoam vs. Pink foam
  • Despite delays, shell is complete and painted
major setbacks
Major Setbacks
  • Navigation Team components and Locomotion Motor Controllers did not work properly
    • Majority of MSD II spent on debugging and fixing
  • Robot was not fully functional until ~Week 8
    • Testing of Specifications was not done due to time constraints (suggested for future teams)
milestones msdii
Milestones- MSDII
  • Week 1
    • Initial shell design finalized, components purchased
  • Week 2
    • Evaluation of Locomotion/firmware “bugs”
  • Week 4
    • Header board completion
  • Week 5
    • Sensors remounted
    • Shell Top & Front complete
  • Week 6
    • New encoder design integrated
    • H-Bridge functionality solved
  • Week 7
    • Shell components test fit, trimmed
    • Shell top, front, sides painted
    • Remote Control implemented via gamepad
  • Week 8
    • Remote Control finalized
    • Shell top mounted
    • Plant, solar panels mounted
    • ImagineRIT
      • Remote Control verified
      • Battery charge expectancy verified
  • Week 9
    • Shell front mounts made
current state of design
Current State of Design
  • Robot is capable of meeting all locomotion-related requirements
  • Sensor Data Acquisition
    • Compass data not being translated correctly
    • All other positional and plant sensors reporting data correctly
  • Shell
    • Shell pieces made
    • Top & Front trimmed for fit and sensor/plant clearance
    • Top mounted in final location
    • Front mounts made, not yet attached to chassis
    • Rear & sides unmounted, untrimmed
    • All pieces painted with design scheme
  • Formal Platform Testing
    • Originally a project requirement
    • Platform reconstruction took precedence
    • Formal test plan methodology developed
    • No formal test plans run
    • ImagineRIT platform validation
suggestions for future teams
Suggestions for Future Teams
  • Test customer specifications (velocity, turning radius etc.)
  • Powder coat the chassis to prevent rust
  • Purchase printed circuit board
  • Integrate Application software with current Robot (to make autonomous)
  • Add 2 more rear Sonar Sensors
    • To guard against the back end of Robot bumping into things as it turns
summary
Summary
  • Number of Original Project Goals Met: 0
  • Number of Robots Created: 1
  • Senior Design Course: 0
  • Senior Design Team: 1