4:30 - 5:30
1) Finished building sensor board (1h)
---------------------------------------------
1) Added the connectors that will connect to the satellite processor board, and the sensors.
October 27, 2007
10/26/07 Gregory Falco
12:45-1:15 and 1:30-3:30
1. Labeling MSDS (30 min)
2. Lab Meeting (2 hrs)
---------------
1. Began creating computer labels for the numbers for MSDS
2. Took notes on salient points for each presenter and took notes on what to improve for each student project
1. Labeling MSDS (30 min)
2. Lab Meeting (2 hrs)
---------------
1. Began creating computer labels for the numbers for MSDS
2. Took notes on salient points for each presenter and took notes on what to improve for each student project
10/25/07 Gregory Falco
3:00PM-4:00PM
1. E-mailed Dealtree (15 min)
2. Got T&AM Timeslot( 15min)
3. E-mailed Lab (5 min)
4. Blog Fix(25 min)
--------------
1. E-mailed Dealtree to request confirmation of receipt of package and request that shipping be refunded as well
2. Researched which classes students take and work in the lab in order to arrange for a Friday 2:30-3:30 timeslot. I proceeded to correspond with Cindy to ensure that this will be listed when enrolled in course.
3. Told lab that the room was changed for Friday meeting
4. People seem to forget to put the labels on their blogs so I went through them all and assigned labels to them so that they are not "lost" in our organization.
1. E-mailed Dealtree (15 min)
2. Got T&AM Timeslot( 15min)
3. E-mailed Lab (5 min)
4. Blog Fix(25 min)
--------------
1. E-mailed Dealtree to request confirmation of receipt of package and request that shipping be refunded as well
2. Researched which classes students take and work in the lab in order to arrange for a Friday 2:30-3:30 timeslot. I proceeded to correspond with Cindy to ensure that this will be listed when enrolled in course.
3. Told lab that the room was changed for Friday meeting
4. People seem to forget to put the labels on their blogs so I went through them all and assigned labels to them so that they are not "lost" in our organization.
10/26/07 Hajime Furukawa
3:30 - 7:00PM
1) Worked on constructing the sensor board (3.5h)
-------------------------------------------------------
1) Added all remaining components except for the connectors. This includes the resistors, capacitors, muxes, and opamps.
1) Worked on constructing the sensor board (3.5h)
-------------------------------------------------------
1) Added all remaining components except for the connectors. This includes the resistors, capacitors, muxes, and opamps.
10/26/07 Yingyi Tan
3:45 - 6:00 pm
1. Tapped the hole in the hip shaft (0.25h)
2. File the hip insert to fit into hole (2h)
-----------------
1. Helped Jason to tap the hole in the hip shaft. The hole had not been tapped completely so the hip insert could not fit in all the way.
2. The threaded portion of the hip insert was slightly bent. The rest of the hip insert could not fit into the hole. Had to file the insert to a smaller diameter. However, sand paper was used as a file would destroy the smooth circular outside diameter that was required.
1. Tapped the hole in the hip shaft (0.25h)
2. File the hip insert to fit into hole (2h)
-----------------
1. Helped Jason to tap the hole in the hip shaft. The hole had not been tapped completely so the hip insert could not fit in all the way.
2. The threaded portion of the hip insert was slightly bent. The rest of the hip insert could not fit into the hole. Had to file the insert to a smaller diameter. However, sand paper was used as a file would destroy the smooth circular outside diameter that was required.
October 26, 2007
10/26/07 Kevin Ullmann
3:00 - 4:30 (1.5 hrs)
1. Researched/Fixed Importing New Data Problem (1 hour)
2. Added Dynamic Importing to Graphics Program
1. I continued to research ways to import numerical data from a text file, and I was able to find a way to do so using the function fscanf.
2. I implemented this technique into the program code so that the user may now press the R key to bring up a file selection window to dynamically view a seperate data file. This eliminates the confusing/tedious process of closing the program and manually importing another data file using Matlab's Import Wizard. It is unfortunate that I finished this task basically right after I presented the program in the lab meeting :( but at least now it works :)
1. Researched/Fixed Importing New Data Problem (1 hour)
2. Added Dynamic Importing to Graphics Program
1. I continued to research ways to import numerical data from a text file, and I was able to find a way to do so using the function fscanf.
2. I implemented this technique into the program code so that the user may now press the R key to bring up a file selection window to dynamically view a seperate data file. This eliminates the confusing/tedious process of closing the program and manually importing another data file using Matlab's Import Wizard. It is unfortunate that I finished this task basically right after I presented the program in the lab meeting :( but at least now it works :)
10/26/07 John Buzzi
3:30-6:00
1) Removed excess material from satellite processor holding boxes(~30 min)
2) Prepared satellite processor boxes for mounting (~1 hr 45 min)
----------------------------------
1) We purchased 3 boxes for the purpose of containing and mounting the satellite processor boards that are soon to be added to the robot. One box will be located on the back left side of the robot, one on the back right, and one attached on the back in the center. Before mounting the boxes or fitting the processors into the boxes, multiple areas of unnecessary plastic had to be removed so that everything will fit properly. In order to accomplish this task i used the mill.
2) In order to mount the boxes flush against the back of the robot as desired, holes needed to be drilled in locations on the box to allow mounting screws from other components to protrude into the boxes. Since it was difficult to find the location of the screws relative to one another accurately I decided to use a pencil and paper to map the locations. I coated the screw heads with graphite and pressed the paper against the back to get a pattern from which to work with on the paper. I did the same thing on the back of the plastic box as well to spot the holes. I then used the drill press to make the holes. After this i had to file the holes until everything fit properly.
1) Removed excess material from satellite processor holding boxes(~30 min)
2) Prepared satellite processor boxes for mounting (~1 hr 45 min)
----------------------------------
1) We purchased 3 boxes for the purpose of containing and mounting the satellite processor boards that are soon to be added to the robot. One box will be located on the back left side of the robot, one on the back right, and one attached on the back in the center. Before mounting the boxes or fitting the processors into the boxes, multiple areas of unnecessary plastic had to be removed so that everything will fit properly. In order to accomplish this task i used the mill.
2) In order to mount the boxes flush against the back of the robot as desired, holes needed to be drilled in locations on the box to allow mounting screws from other components to protrude into the boxes. Since it was difficult to find the location of the screws relative to one another accurately I decided to use a pencil and paper to map the locations. I coated the screw heads with graphite and pressed the paper against the back to get a pattern from which to work with on the paper. I did the same thing on the back of the plastic box as well to spot the holes. I then used the drill press to make the holes. After this i had to file the holes until everything fit properly.
10/26/07 Carlos Arango
3:30-5:00 pm
1. Modified the cable holder on the back of the ankles
-------------
1.I manufactured two more cable brackets to attache the cable coming out of the ankle sensors in a manner that does not obstruct foot movement. I also added notches on the sides of the brackets to ensure secure placement of cable ties
1. Modified the cable holder on the back of the ankles
-------------
1.I manufactured two more cable brackets to attache the cable coming out of the ankle sensors in a manner that does not obstruct foot movement. I also added notches on the sides of the brackets to ensure secure placement of cable ties
October 25, 2007
10/25/07 Hajime Furukawa
9:30AM - 10:00AM, 11:30AM - 1:00PM, 3:30PM- 7:00PM
1) Constructing Board (4h)
2)Testing Board (1h)
3)Composing Test Results (.5)
--------------
1)Started to solder components onto the sensor board that will attach to the satellite processor board . Finished adding the components that make up the voltage regulator.
2) Tested the voltage regulator with two different load resistors, while sweeping the input voltage.
3)Wrote up the results and made a graph for the test.
1) Constructing Board (4h)
2)Testing Board (1h)
3)Composing Test Results (.5)
--------------
1)Started to solder components onto the sensor board that will attach to the satellite processor board . Finished adding the components that make up the voltage regulator.
2) Tested the voltage regulator with two different load resistors, while sweeping the input voltage.
3)Wrote up the results and made a graph for the test.
10/25/07 Yingyi Tan
5:00pm - 6.45pm
1. Machined slot for screwdriver in hip insert. (1.25h)
2. Filed spring to fit pins (0.5h)
------------------
1. Discussed creating a slot for the screwdriver with Jason. Decided to create slots on inside with end-mill cutter. Had to find a way to clamp piece down. Drilled and tapped into an aluminum piece to hold the insert before cutting slots.
2. The holes on the spring were not aligned with the pins through the sensor board. Filed the holes. Tried fitting the insert into the shaft of the robot. Realized the hole in the shaft was not tapped all the way. Will tap the hole with Jason tomorrow.
1. Machined slot for screwdriver in hip insert. (1.25h)
2. Filed spring to fit pins (0.5h)
------------------
1. Discussed creating a slot for the screwdriver with Jason. Decided to create slots on inside with end-mill cutter. Had to find a way to clamp piece down. Drilled and tapped into an aluminum piece to hold the insert before cutting slots.
2. The holes on the spring were not aligned with the pins through the sensor board. Filed the holes. Tried fitting the insert into the shaft of the robot. Realized the hole in the shaft was not tapped all the way. Will tap the hole with Jason tomorrow.
10/25/07 Max Wasserman
Entered 3:20, Exited 5:40
1) MATLAB Coding/Testing
----------------------------------------------------------------------------------------
1) I perfected the MATLAB code so that now, when given four or more input points, the program determines the combination of masses that (a) when placed at those input points, equalizes the inertial properties of the robot, and (b) accomplishes this while adding the least amount of total mass possible to the robot. Also, the program will no longer return negative mass as an output.
1) MATLAB Coding/Testing
----------------------------------------------------------------------------------------
1) I perfected the MATLAB code so that now, when given four or more input points, the program determines the combination of masses that (a) when placed at those input points, equalizes the inertial properties of the robot, and (b) accomplishes this while adding the least amount of total mass possible to the robot. Also, the program will no longer return negative mass as an output.
10/25/07 3:30 PM to 5:30 PM
1. Fixed the phone - .5 hours
2. Worked on splitting the code into modules 1.5 hours
1. I found a new transformer and replaced the old one that was blown out on the phone. I covered the connections individually with shrink wrap, off set them from each other, and then covered the whole thing in electrical tape.
2. I also worked on setting up the code so it could be in modules. I began by setting up a stripped down version that was similar to code that I had used on a microcontroller in the past so that it would hopefully work.
2. Worked on splitting the code into modules 1.5 hours
1. I found a new transformer and replaced the old one that was blown out on the phone. I covered the connections individually with shrink wrap, off set them from each other, and then covered the whole thing in electrical tape.
2. I also worked on setting up the code so it could be in modules. I began by setting up a stripped down version that was similar to code that I had used on a microcontroller in the past so that it would hopefully work.
10/24/07 Yingyi Tan
3:15pm-5:00pm, 8:15pm - 10:00pm
1. Remachined a new hip insert. (1.5 h)
2. The hip machine in 1 broke. Machined another part. (1.5h)
--------
1. The hip insert was dented on the outside surface. It had to be perfectly smooth in order to rotate smoothly in the bearing, so a new part had to be machined.
2. The hip insert broke in the lathe machine. Another hip insert had to be machined.
1. Remachined a new hip insert. (1.5 h)
2. The hip machine in 1 broke. Machined another part. (1.5h)
--------
1. The hip insert was dented on the outside surface. It had to be perfectly smooth in order to rotate smoothly in the bearing, so a new part had to be machined.
2. The hip insert broke in the lathe machine. Another hip insert had to be machined.
October 24, 2007
10/24/07 Lee Sam
Time in : 9:30am
Time out: 2pm
Prepared the MAC7111LCEVB to support 2 SPI ports. Used Dremel tool to disconnect a trace to free up a SPI pin. Soldered wire-wrap wire to the individual SPI pins on the chip to allow for access to second SPI interface.
Time out: 2pm
Prepared the MAC7111LCEVB to support 2 SPI ports. Used Dremel tool to disconnect a trace to free up a SPI pin. Soldered wire-wrap wire to the individual SPI pins on the chip to allow for access to second SPI interface.
10/24/07 Stephane Constantin
10:00 to 12:30
1) Explored camera standards and video capture approaches
2) Programmed matlab to display live video from camera/webcam
Explored options of overall applications:
Live Streaming v/s Save to a file
Matlab: Easy to use Image Capture Toolbox --> Versatile to various video formats
OPTION 1 (Live Streaming - Camera attached to computer)
Have Matlab tell LabView to start recording Data and at the same time start video recording in matlab.
Results would be:
One video file from matlab
One Data file from Labview
(synchronized within program response time)
Easier to play with video file since it is already in matlab environment
OPTION 2 (Live Streaming - Camera attached to Computer)
Have Labview do both data capture and video capture. Then Matlab uses those two files.
Harder to interface video file from Labview to Matlab
OPTION 3 (Free moving camera)
Blinking LED on robot to synchronize video.
Robot records when the LEd blinks in data.
1) Explored camera standards and video capture approaches
2) Programmed matlab to display live video from camera/webcam
Explored options of overall applications:
Live Streaming v/s Save to a file
Matlab: Easy to use Image Capture Toolbox --> Versatile to various video formats
OPTION 1 (Live Streaming - Camera attached to computer)
Have Matlab tell LabView to start recording Data and at the same time start video recording in matlab.
Results would be:
One video file from matlab
One Data file from Labview
(synchronized within program response time)
Easier to play with video file since it is already in matlab environment
OPTION 2 (Live Streaming - Camera attached to Computer)
Have Labview do both data capture and video capture. Then Matlab uses those two files.
Harder to interface video file from Labview to Matlab
OPTION 3 (Free moving camera)
Blinking LED on robot to synchronize video.
Robot records when the LEd blinks in data.
October 23, 2007
10/23 Rohit Hippalgaonkar
Hours : 3.30 pm to 5.30 pm
-----------------------------
* Further work on 'inverse' code - i.e. a program that determines locations given the no. and values of masses to be added. Abandoned on Andy's advice as it was not worth it spending the effort on this problem, a much tougher problem than the inverse problem which is linear (1 hour - 1hr 45 mins)
* Went through Max's code - minor refinements. (30 - 45 mins)
-----------------------------
* Further work on 'inverse' code - i.e. a program that determines locations given the no. and values of masses to be added. Abandoned on Andy's advice as it was not worth it spending the effort on this problem, a much tougher problem than the inverse problem which is linear (1 hour - 1hr 45 mins)
* Went through Max's code - minor refinements. (30 - 45 mins)
10/23/07 Kevin Ullmann
11:00 - 1:00 (in lab) 8:00 - 9:00 (at home)
1.Worked on reading text data without re-importing (2 hrs)
2. Worked on reading numerical data without re-importing (1 hr)
1. I looked at and experimented with many different methods of doing this, inclucing fscanf, strread, textread, textscan, fgetl, and sscanf. None of these functions really did what I wanted them to do. I ended up using fgetl, which reads a single line from the data file, and parsing it with strtok in a loop to get the individual column headers.
2. I looked at many of the same methods for numerical reading as well, and I also re-looked into load. I have not found a workable solution to this problem yet.
1.Worked on reading text data without re-importing (2 hrs)
2. Worked on reading numerical data without re-importing (1 hr)
1. I looked at and experimented with many different methods of doing this, inclucing fscanf, strread, textread, textscan, fgetl, and sscanf. None of these functions really did what I wanted them to do. I ended up using fgetl, which reads a single line from the data file, and parsing it with strtok in a loop to get the individual column headers.
2. I looked at many of the same methods for numerical reading as well, and I also re-looked into load. I have not found a workable solution to this problem yet.
10/23/07 Yingyi Tan
4.00pm - 8.30pm
1. Helped Jason with drilling the robot (1 h)
2. Removed epoxy on robot (1h)
3. Redesigned hip insert (0.5h)
4. Machined hip insert (2h)
-------------------
1. The hip shaft connecting the 3 boxes of the robot had to be drilled. Aided Jason with drilling the hole and ensuring the hole was at the right dimensions.
2. The base of the robot's left box was uneven due to epoxy from the shaft mount. Used a chisel and hammer to scrape off the epoxy so that the hip spring could be flushed with the bottom of the box.
3. The hip insert had to be redesigned. The existing hole in the hip shaft was larger than the threaded portion of the insert.
4. Machined a new hip insert according to the new design. Filed away additional material so everything fit in place.
1. Helped Jason with drilling the robot (1 h)
2. Removed epoxy on robot (1h)
3. Redesigned hip insert (0.5h)
4. Machined hip insert (2h)
-------------------
1. The hip shaft connecting the 3 boxes of the robot had to be drilled. Aided Jason with drilling the hole and ensuring the hole was at the right dimensions.
2. The base of the robot's left box was uneven due to epoxy from the shaft mount. Used a chisel and hammer to scrape off the epoxy so that the hip spring could be flushed with the bottom of the box.
3. The hip insert had to be redesigned. The existing hole in the hip shaft was larger than the threaded portion of the insert.
4. Machined a new hip insert according to the new design. Filed away additional material so everything fit in place.
10/23/07 John Buzzi
4:00-5:45
1) Aided with drilling a larger hole into the hip axle (~45 min)
2) Removed the epoxy from near the hip axle inside the robot (~1 hr)
----------------------------------
1) The hip axle needed to be drilled out so that components that Yingyi created can be properly fit into place for the hip sensor. So i aided with this process by helping level and center the entire inner leg on the mill machine.
2) In order for the hip spring that i made yesterday to be installed, a large amount of epoxy had to be removed from the inside of the robot using a dremel tool, a chisel, and needle files.
1) Aided with drilling a larger hole into the hip axle (~45 min)
2) Removed the epoxy from near the hip axle inside the robot (~1 hr)
----------------------------------
1) The hip axle needed to be drilled out so that components that Yingyi created can be properly fit into place for the hip sensor. So i aided with this process by helping level and center the entire inner leg on the mill machine.
2) In order for the hip spring that i made yesterday to be installed, a large amount of epoxy had to be removed from the inside of the robot using a dremel tool, a chisel, and needle files.
10/23/07 Max Wasserman
3:10-5:10
1. Coding
2. Testing
-------------------------------------------------
1. Continuing with what I started last week, I finished coding the new program. The new program takes points on the robot (i.e. x- and y- distance from the hip axis) and determines the exact amount of mass that should be placed at each of those points to equalize the inertial properties. (Note: I also worked on this program for two hours on Friday last week.)
1 hour, 30 minutes
2. I also tested the new program briefly. I learned that it still needs to be adjusted for the case that more than four points are inputted, as that leads to an infinite number of possible answers. This can be taken care of quickly the next time I'm in lab (either Wednesday or Thursday).
30 minutes
1. Coding
2. Testing
-------------------------------------------------
1. Continuing with what I started last week, I finished coding the new program. The new program takes points on the robot (i.e. x- and y- distance from the hip axis) and determines the exact amount of mass that should be placed at each of those points to equalize the inertial properties. (Note: I also worked on this program for two hours on Friday last week.)
1 hour, 30 minutes
2. I also tested the new program briefly. I learned that it still needs to be adjusted for the case that more than four points are inputted, as that leads to an infinite number of possible answers. This can be taken care of quickly the next time I'm in lab (either Wednesday or Thursday).
30 minutes
10/23/07 Carlos Arango
3:30pm - 5:10 pm
1. Finished attaching the sensors and sensor cases to the feet
2. Discussed forms of routing sensor cables up the robot legs with Jason, particularly past the back of the feet
3. Created a prototype for getting cables past thefeet
----------------------------------
1. I had one sensor left to attach from last time, so I quickly did that. I had to take it off once because it was too "wobbly" so I added another washer in the casing to give more tension to the spring washer
2. Ideas included adding a piece of plastic to the stop screw that sticks out, using stiff wire, and using sheet metal. For now we have decided on the sheet metal with insulation.
3. I constructed a bracket out of sheet metal. This involved cutting the metal with the lab shears (ouch), drilling a hole in it, bending it to shape, and finally filing to fit.
1. Finished attaching the sensors and sensor cases to the feet
2. Discussed forms of routing sensor cables up the robot legs with Jason, particularly past the back of the feet
3. Created a prototype for getting cables past thefeet
----------------------------------
1. I had one sensor left to attach from last time, so I quickly did that. I had to take it off once because it was too "wobbly" so I added another washer in the casing to give more tension to the spring washer
2. Ideas included adding a piece of plastic to the stop screw that sticks out, using stiff wire, and using sheet metal. For now we have decided on the sheet metal with insulation.
3. I constructed a bracket out of sheet metal. This involved cutting the metal with the lab shears (ouch), drilling a hole in it, bending it to shape, and finally filing to fit.
10/23/07 Gregory Falco
1:15PM - 4:45PM
1. Class time on schedule
2. Booked Thurston 204
3. MSDS
----------------------------------------
1. Went to registrar for M&AE to register M&AE 429 as a class that meets Fridays 2:30PM -3:30PM at Thurston 204
2. Booked Thurston 204 at 2:30PM for next semester
3. Finished finding all MSDS for lab and machine shop. In the process of organizing files so they are easy to find in an emergency.
1. Class time on schedule
2. Booked Thurston 204
3. MSDS
----------------------------------------
1. Went to registrar for M&AE to register M&AE 429 as a class that meets Fridays 2:30PM -3:30PM at Thurston 204
2. Booked Thurston 204 at 2:30PM for next semester
3. Finished finding all MSDS for lab and machine shop. In the process of organizing files so they are easy to find in an emergency.
10/21 Rohit Hippalgaonkar
Hours : Monday 22nd October - 10.45am to 12.15pm, 3.15 pm to 5.15 pm
Sunday 21st October - 4.30 pm to 6pm, 7 pm to 10 pm, 11 pm to 12.30 am
* Checked experimental values obtained and made calculations necessary for program that equalizes relevant mass properties (30 - 45 mins)
* Discussed / brainstormed with Manoj and Pranav how and whether to account for friction in the experiments to determine moment of inertia of each leg about hip (45 mins to 1hr)
* Started work on a MATLAB program that arrives at the conditions necessary for identical mass properties using computer algebra. (A complete waste of time realised on Monday that this should have been done on Maple, as Matlab kept getting stuck) - 4.5 hrs
* Started work on Matlab program that computes locations at which masses are to be added if only 2 mases are to be added (3.5 hours), and plots the errors in the quantities versus the masses added (output should be a 3-D plot) - this does the inverse of Max's code, which computes the masses after user inputs locations. (3 hours)
Sunday 21st October - 4.30 pm to 6pm, 7 pm to 10 pm, 11 pm to 12.30 am
* Checked experimental values obtained and made calculations necessary for program that equalizes relevant mass properties (30 - 45 mins)
* Discussed / brainstormed with Manoj and Pranav how and whether to account for friction in the experiments to determine moment of inertia of each leg about hip (45 mins to 1hr)
* Started work on a MATLAB program that arrives at the conditions necessary for identical mass properties using computer algebra. (A complete waste of time realised on Monday that this should have been done on Maple, as Matlab kept getting stuck) - 4.5 hrs
* Started work on Matlab program that computes locations at which masses are to be added if only 2 mases are to be added (3.5 hours), and plots the errors in the quantities versus the masses added (output should be a 3-D plot) - this does the inverse of Max's code, which computes the masses after user inputs locations. (3 hours)
October 22, 2007
10/22/2007 Kevin Ullmann
8:00 - 9:00 PM (from home)
1. Continued work on listbox
1. I continued to research listbox properties and tried to work with the listbox that has parameters. Unfortunately I am having difficulties positioning the listbox relative to its parent figure, since resizing the figure will not move the listbox. I think I am going to abandon work on this feature to focus on importing new data dynamically.
1. Continued work on listbox
1. I continued to research listbox properties and tried to work with the listbox that has parameters. Unfortunately I am having difficulties positioning the listbox relative to its parent figure, since resizing the figure will not move the listbox. I think I am going to abandon work on this feature to focus on importing new data dynamically.
10/22/07 Yingyi Tan
4.15pm - 6.45pm
1. Machined the two pins to connect the board to the spring (2h)
2. Filed the pins and holder assembly so everything fits together (0.5h)
------------
1. Used the lathe to machine two pins out of aluminum. One was conical shaped, the other shaped like a cross.
2. Filed away extra material on the pins so they would fit easily into the spring and assembly without force. Filed away additional material on the assembly so that it does not rest on the leads of the chip on the sensor board.
1. Machined the two pins to connect the board to the spring (2h)
2. Filed the pins and holder assembly so everything fits together (0.5h)
------------
1. Used the lathe to machine two pins out of aluminum. One was conical shaped, the other shaped like a cross.
2. Filed away extra material on the pins so they would fit easily into the spring and assembly without force. Filed away additional material on the assembly so that it does not rest on the leads of the chip on the sensor board.
10/22/07 John Buzzi
2:00pm-5:00pm
1) Created the spring device for Yingyi's hip sensor (2.5 hours)
-------------
1) In order to hold certain components of the hip sensor device in the appropriate position i made a spring device out of sheet metal to satisfy this requirement. I spent my time printing out the drawings, measuring and cutting the sheet metal, bending it to the appropriate shape, carefully measuring the locations for the holes to be drilled, editing the location of the two mounting holes , and finally drilling the holes into the sheet metal using the drill press. I also had to make temporary fixtures out of wood in order to properly hold the small sheet metal part in the right place on the drill press.
1) Created the spring device for Yingyi's hip sensor (2.5 hours)
-------------
1) In order to hold certain components of the hip sensor device in the appropriate position i made a spring device out of sheet metal to satisfy this requirement. I spent my time printing out the drawings, measuring and cutting the sheet metal, bending it to the appropriate shape, carefully measuring the locations for the holes to be drilled, editing the location of the two mounting holes , and finally drilling the holes into the sheet metal using the drill press. I also had to make temporary fixtures out of wood in order to properly hold the small sheet metal part in the right place on the drill press.
10/22/07 Gregory Falco
1:20PM - 4:50PM
1. MSDS
2. Blog
---------------------------------
- Continued to find MSDS for the lab. Will be done next time.
-Maintained Blog and fixed user errors (corrected formatting for labels)
1. MSDS
2. Blog
---------------------------------
- Continued to find MSDS for the lab. Will be done next time.
-Maintained Blog and fixed user errors (corrected formatting for labels)
10/22/07 Carlos Arango
1:40pm-4:20pm
1. Machined slots into spacers for new stop screws
2. Re-machined bearing surface of sensor mounts
--------------
1. The foot stop screws have been extended in order to protect the ankle encoders. The extension requires that a spacer be used to keep the stop spring in the correct position, so I had to cut a groove into each spacer so I could attach the spring of the ankle sensors in the same manner it was previously attached to the screw heads.
2. Jason and I noticed that the bearing (back) surfaces of the encoder cases were concave due to a machining error. I have corrected this error using the fly cutter and being very careful with the clamp
1. Machined slots into spacers for new stop screws
2. Re-machined bearing surface of sensor mounts
--------------
1. The foot stop screws have been extended in order to protect the ankle encoders. The extension requires that a spacer be used to keep the stop spring in the correct position, so I had to cut a groove into each spacer so I could attach the spring of the ankle sensors in the same manner it was previously attached to the screw heads.
2. Jason and I noticed that the bearing (back) surfaces of the encoder cases were concave due to a machining error. I have corrected this error using the fly cutter and being very careful with the clamp
10/22/2007 Stephane Constantin
10:00 - 12:30
1) CAN transceiver adapter
Soldered connections and IC.
Ready to be plugged in.
1) CAN transceiver adapter
Soldered connections and IC.
Ready to be plugged in.
10/22/07 Sam Lee
Time In : 1000hrs
Time Out 1400hrs
1) IAR Workbench could not program the LPC3180 in Ext NAND Flash Mode, but it could program on the Int RAM Mode. An was update found on IAR website and installed new software. Problem resolved.
2) Wrote SPI initialization code for MAC7111. Verified with Datasheet
3) Attempted to get the MAC7111 and LPC3180 but currently unsuccessful. Looking at potential wiring problems, circuit problems or code initailization problems.
Time Out 1400hrs
1) IAR Workbench could not program the LPC3180 in Ext NAND Flash Mode, but it could program on the Int RAM Mode. An was update found on IAR website and installed new software. Problem resolved.
2) Wrote SPI initialization code for MAC7111. Verified with Datasheet
3) Attempted to get the MAC7111 and LPC3180 but currently unsuccessful. Looking at potential wiring problems, circuit problems or code initailization problems.
10/22/07 Yingyi Tan
12:00am - 1:00am
1. Worked on the finishing touches of magnetic encolder holder.
2. Revised design for spring and pins of the encolder assembly.
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1. Cut the mangetic encolder holder piece out from its delrin block. Filed the edges to ensure they were smooth and that there was no additional plastic on the sides and edges. Filed down additional material that was not cut to the correct height.
2. Repositioned some holes in the spring that holds the assembly to the robot. Revised the CAD model and drawings to correspond to new design.
1. Worked on the finishing touches of magnetic encolder holder.
2. Revised design for spring and pins of the encolder assembly.
----------------
1. Cut the mangetic encolder holder piece out from its delrin block. Filed the edges to ensure they were smooth and that there was no additional plastic on the sides and edges. Filed down additional material that was not cut to the correct height.
2. Repositioned some holes in the spring that holds the assembly to the robot. Revised the CAD model and drawings to correspond to new design.
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