1.00pm - 3.15pm
1. Tied strings to hold the robot's shoulder pads down. (1h 10 min)
2. Attached limit cable to middle hip box (5 min)
--------------------
1. Andy suggested using a bowline knot and another removable knot to tie the strings together instead of the usual dead knot. Searched online for the name of the removable knot - sheet bend knot. Went to you tube to learn how to tie the knots. Tied a bowline knot on one end of the string, put electrical tape on the string where it would be cutting into the edge of the shoulder pad and used heat shrink to cover the tape. Placed the strings through the holes of the robot's shoulder pads, tied one end around the leg and used the sheet bend knot to tie the other end to the hoop of the bowline knot. Repeated the process for the other shoulder pad.
2. The cable at the back of the robot which limits how far the middle leg swings out had been removed from the center hip box. Used a 6-32 screw and some washers to reattach the cable to the center box.
December 1, 2007
November 29, 2007
11/29 Rohit Hippalgaonkar
Hours : 7.15pm to 8.45 pm ( 1.5 hrs)
1. Replacing hip springs (1 hour 15 mins)
2. Set-up for outer leg inertia measurement (15 mins)
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1. Helped James out with removing the heavy pair of hip-springs (used on the inner leg) and replacing them with a lighter pair of springs (identical to the ones already on the outer leg). A bit of a tedious procedure with all the strings and wires around the ankle area of the robot, near which we had worked.
2. Needed to bore a few more holes deeper than they were - once the hip-motor can be powered on, this set-up is ready to use (for clamping the inner leg and measuring outer leg inertia).
1. Replacing hip springs (1 hour 15 mins)
2. Set-up for outer leg inertia measurement (15 mins)
-------------------------------------------------------------------------------------------------
1. Helped James out with removing the heavy pair of hip-springs (used on the inner leg) and replacing them with a lighter pair of springs (identical to the ones already on the outer leg). A bit of a tedious procedure with all the strings and wires around the ankle area of the robot, near which we had worked.
2. Needed to bore a few more holes deeper than they were - once the hip-motor can be powered on, this set-up is ready to use (for clamping the inner leg and measuring outer leg inertia).
11/29/07 Gregory Falco
1:30-2:30PM
1. Web requisition (.5 hrs)
2. Lab Presentation prep (.5 hrs)
3. blog, labeling and microwave (1 hr)
---------------------------------------------
1. I made a price requisition for Carol Moss so that we can buy the lab Camcorder
2. I arranged to have Thurston 201- the bigger of Thurston 204 and 201, as the room we will have the lab publicity presentation in. It will take place on Thursday January 24 at 5:30 PM
3. Corrected the few organizational errors on blog (labels) and continued working on SMD organizational binder. I also put a final coat of paint on the microwave support
1. Web requisition (.5 hrs)
2. Lab Presentation prep (.5 hrs)
3. blog, labeling and microwave (1 hr)
---------------------------------------------
1. I made a price requisition for Carol Moss so that we can buy the lab Camcorder
2. I arranged to have Thurston 201- the bigger of Thurston 204 and 201, as the room we will have the lab publicity presentation in. It will take place on Thursday January 24 at 5:30 PM
3. Corrected the few organizational errors on blog (labels) and continued working on SMD organizational binder. I also put a final coat of paint on the microwave support
November 28, 2007
11/28 Rohit Hippalgaonkar
10.15am - 12.45pm (2.5 hours)
1. Modifying set-up to measure inertia of outer legs
-------------------------------------------------------
1. The set-up that was used to clamp the inner leg, so as to allow measurement of inertia of the outer legs, had to be modified as the computer box added onto the inner leg (which was done after the last time that measurements were made on the robot) interfered with the set-up.
A couple of wooden boards were added onto the set-up using wood screws so that the set-up now has sufficient clearance from the computer box.
1. Modifying set-up to measure inertia of outer legs
-------------------------------------------------------
1. The set-up that was used to clamp the inner leg, so as to allow measurement of inertia of the outer legs, had to be modified as the computer box added onto the inner leg (which was done after the last time that measurements were made on the robot) interfered with the set-up.
A couple of wooden boards were added onto the set-up using wood screws so that the set-up now has sufficient clearance from the computer box.
November 27, 2007
11/27/07 Stephane Constantin
5:30 t0 8:30 pm
1) Video
Wrote the recording program. User-controlled start and stop of recording. Writes the recorded video to an avi file.
Worked on making the video displya follow the graph vertical cursor when user wants to jump the vertical cursor to another value.
Worked on timing issues: Should the increments follow the 16ms period of the data input or the 67ms period of the camera frame rate (15 fps for now). Option between the two. What accuracy is lost in rounding numbers?
Also fixed the memory problem during recording. I tested the recording for 1 hour and it properly saved the video avi file of 500MB. It however took forever (not practical) to load back to memory for reading.
1) Video
Wrote the recording program. User-controlled start and stop of recording. Writes the recorded video to an avi file.
Worked on making the video displya follow the graph vertical cursor when user wants to jump the vertical cursor to another value.
Worked on timing issues: Should the increments follow the 16ms period of the data input or the 67ms period of the camera frame rate (15 fps for now). Option between the two. What accuracy is lost in rounding numbers?
Also fixed the memory problem during recording. I tested the recording for 1 hour and it properly saved the video avi file of 500MB. It however took forever (not practical) to load back to memory for reading.
11/27/07 Kevin Ullmann
3:30 - 5:00 PM (1.5 hrs from home)
1. Combined figure windows into one figure
1. Because the codes for video and graphing were created seperately and then combined, the video and graphs appeared in seperate figures. I put everything into one figure, for simplicity and aesthetics. I arranged the buttons within a panel on the left of the figure, so they are no longer floating in the figure randomly, and are no longer blocking the view of the video. I also have been trying to make the figure appear already maximized, and have experimented with setting it to the screen size. This approach doesn't work though, the figure appears oddly positioned and somewhere off the screen. Unfortunately the video still will not work on my laptop, so I also spent some time trying to fix that.
1. Combined figure windows into one figure
1. Because the codes for video and graphing were created seperately and then combined, the video and graphs appeared in seperate figures. I put everything into one figure, for simplicity and aesthetics. I arranged the buttons within a panel on the left of the figure, so they are no longer floating in the figure randomly, and are no longer blocking the view of the video. I also have been trying to make the figure appear already maximized, and have experimented with setting it to the screen size. This approach doesn't work though, the figure appears oddly positioned and somewhere off the screen. Unfortunately the video still will not work on my laptop, so I also spent some time trying to fix that.
11/26/07 Kevin Ullmann
4:00 - 5:00 (at home 1 hr)
1. Got Stephane's code running on my laptop (.2 hrs)
2. Tried to get the correct decompressor to view avi files in Matlab (.8 hrs)
1. Stephane assimilated the current versions of the programs for graphing and for viewing video. He emailed this code to me and I got it running on my computer so that I can work on it.
2. For some reason Matlab won't play the videos on my laptop, saying that it cannot locate the correct decompressor. I spent the rest of the hour trying to fix this problem by playing around with the files and looking on the internet to see if I could download a decompressor somewhere. The video code works on my laptop with only one video. I used Matlab's aviinfo function to try to explain this. It seems that the other avi files have different properties that confuses Matlab.
1. Got Stephane's code running on my laptop (.2 hrs)
2. Tried to get the correct decompressor to view avi files in Matlab (.8 hrs)
1. Stephane assimilated the current versions of the programs for graphing and for viewing video. He emailed this code to me and I got it running on my computer so that I can work on it.
2. For some reason Matlab won't play the videos on my laptop, saying that it cannot locate the correct decompressor. I spent the rest of the hour trying to fix this problem by playing around with the files and looking on the internet to see if I could download a decompressor somewhere. The video code works on my laptop with only one video. I used Matlab's aviinfo function to try to explain this. It seems that the other avi files have different properties that confuses Matlab.
11/27/07 Gregory Falco
1;00-3:00PM
1.Label SMD (1.5 hrs)
2. Paint (1 hr)
------------------------
1. Labeled and began to reorganize SMD binder with new components
2. Painted another coat on the board for the microwave
1.Label SMD (1.5 hrs)
2. Paint (1 hr)
------------------------
1. Labeled and began to reorganize SMD binder with new components
2. Painted another coat on the board for the microwave
November 26, 2007
11/26/'07 Rohit Hippalgaonkar
5 pm to 9 pm (worked from home)
1. Mass-distribution recommendation for symmetry
------------------------------------------------
1. Once the heavier pair of springs on the inner leg
is replaced (please refer last post for details of why
they need to be replaced), I plan to move the whole hip-spring
assembly up by about 9cm from the current configuration.
* We also want to add the IMU just below the computer box
on the inner leg (I assumed a mass of 60gms and a y-distance of
about 22cm from the hip axis).
* The new pair of batteries can be added at y = 1.5 cm,
z = 4.5 cm (with a total mass of 750 gms) on the
outer legs.
With this configuration the differences in the 3 mass properties,
are really small:
The new inner leg measurents are:
[m*y: 66.72450 kg.cm m*z: 4.17000 kg.cm I: 4485.40 kg.cm^2]
[m*y: 0.03650 kg.cm m*z: 0.15500 kg.cm I: -11.87000 kg.cm^2]
where positive sign means inner leg value is greater than
corresponding outer leg value. Note that the differences, even
though non-zero, are really small percentages of individual
values.
Note that all these values were calculated by extrapolations
based on data that was taken sometime back - quite a few changes
have occurred on the robot since we last measured the relevant
mass properties (e.g. computer boxes added, James' hip spring
assembly moved downwards).
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