Friday 2.30 pm - 6.30 pm
Saturday 6.30 pm - 7 pm, 9.30 pm to 11.00 pm
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1. Derived equations for the Simplest Walker model (2 hrs).
2. Implemented simplest walker algorithm using Python (4 hrs).
February 2, 2008
February 1, 2008
2/01/08 Carlos Arango
10:00 am-12:30 pm again 1:00-2:10pm
1. Looked at code with Bram (10 mins)
2. Filed-to-fit box mounting rails (20 mins)
3. manufactured 2 more rails (2 hrs)
4. Organized connectors (1 hr)
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1. Bram was already here and was looking through the robot code slightly bewildered. I attempted to understand what was going wrong, but I have not spent enough time with this particular code to understand.
2. I had not realized that the screw holes needed to be offset slightly to accommodate the box in between the rail. Too fix this, I simply expanded one of the holes laterally by hand. The rail mounts beautifully now
3. Although a lot smoother than yesterday, the process today was not much faster despite my best efforts. However, I am very confident in the resulting pieces.
4. New battery connectors came in today, so I placed them in bins and labeled all of them
1. Looked at code with Bram (10 mins)
2. Filed-to-fit box mounting rails (20 mins)
3. manufactured 2 more rails (2 hrs)
4. Organized connectors (1 hr)
-----------------------------------------------------------
1. Bram was already here and was looking through the robot code slightly bewildered. I attempted to understand what was going wrong, but I have not spent enough time with this particular code to understand.
2. I had not realized that the screw holes needed to be offset slightly to accommodate the box in between the rail. Too fix this, I simply expanded one of the holes laterally by hand. The rail mounts beautifully now
3. Although a lot smoother than yesterday, the process today was not much faster despite my best efforts. However, I am very confident in the resulting pieces.
4. New battery connectors came in today, so I placed them in bins and labeled all of them
January 31, 2008
01/31/2008 Hajime Furukawa
2:00 - 3:30 PM
1) Set up Prof. Ruina's wireless (30min)
2) Worked on Motor Controller board (1h)
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1) Re-arranged the wires that connect to the wireless router so that they are not visible. Set up some administrative stuff for the router.
2) Connected the remaining components that I believe are correct. Added some comments about what is not connected and other various things. Emailed Jason the latest board with libs.
1) Set up Prof. Ruina's wireless (30min)
2) Worked on Motor Controller board (1h)
--------------------------------------------------------
1) Re-arranged the wires that connect to the wireless router so that they are not visible. Set up some administrative stuff for the router.
2) Connected the remaining components that I believe are correct. Added some comments about what is not connected and other various things. Emailed Jason the latest board with libs.
1/31/08 Carlos Arango
12:00-3:00 pm
1. Tried some designs for box mounting rails, measured out final design (1 hr)
2. Machined prototype mounting rails (2 hr)
-----------------------------------------------------------------------
1. Although we already sort of knew what the final design was going to be, Jason and I looked at the stock we purchased to make slight modifications. I cut some stock and did rough measurements, and decided that the design we came up with is feasible
2. Machining the stock was more difficult than I thought, particularly because we seem to be missing a small center drill in the machine shop. I made two rails, so the first box is ready to be mounted as soon as I talk to Rohit about mass balance.
1. Tried some designs for box mounting rails, measured out final design (1 hr)
2. Machined prototype mounting rails (2 hr)
-----------------------------------------------------------------------
1. Although we already sort of knew what the final design was going to be, Jason and I looked at the stock we purchased to make slight modifications. I cut some stock and did rough measurements, and decided that the design we came up with is feasible
2. Machining the stock was more difficult than I thought, particularly because we seem to be missing a small center drill in the machine shop. I made two rails, so the first box is ready to be mounted as soon as I talk to Rohit about mass balance.
January 30, 2008
01/30/2008 Hajime Furukawa
4:30 - 5:30 PM
1) Worked on Motor Controller board (1h)
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1) Almost finished adding the current sense resistor, and amplifiers that go along with those resistors.
1) Worked on Motor Controller board (1h)
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1) Almost finished adding the current sense resistor, and amplifiers that go along with those resistors.
1/30/08 John Buzzi
1:30-4:30
1) Revised solidworks drawings of the Octagon and Hexagon rolling parts (1 hour)
2) Created additional models of the rolling elements ( 1 hr 30 min)
3) Met with the laser cutting TA who will be on call Thursday night and requested that I be added to the queue (20 min)
---------------------------------------------
1) Originally the only drawings I had of the rolling elements were a group of 6 of them that were all attached, because it made perfect sense for setting them up to be CNC machined, however now it was necessary to recreate models of those elements individually so that they can be laid out however i need to for laser cutting.
2) As stated there were originally 6 elements (3 pairs), I decided to draw up an additional 10 models to be laser cut and tested, i did this using the solidworks 3d modeling software.
3) Fortunately it turns out that I know the laser TA for Thursday so I met with her to discuss the project and let her know that I will be stopping by.
1) Revised solidworks drawings of the Octagon and Hexagon rolling parts (1 hour)
2) Created additional models of the rolling elements ( 1 hr 30 min)
3) Met with the laser cutting TA who will be on call Thursday night and requested that I be added to the queue (20 min)
---------------------------------------------
1) Originally the only drawings I had of the rolling elements were a group of 6 of them that were all attached, because it made perfect sense for setting them up to be CNC machined, however now it was necessary to recreate models of those elements individually so that they can be laid out however i need to for laser cutting.
2) As stated there were originally 6 elements (3 pairs), I decided to draw up an additional 10 models to be laser cut and tested, i did this using the solidworks 3d modeling software.
3) Fortunately it turns out that I know the laser TA for Thursday so I met with her to discuss the project and let her know that I will be stopping by.
1/29/08 John Buzzi
Yesterday:
1) Came up with a plan to laser cut octagonal and hexagonal rolling elements out of an inexpensive plastic for testing purposes (10 min)
2) Spoke to laser cutting TA to schedule cutting times and discussed possible materials (20 min)
Today: 10:00am-11:00am
3) Investigated where to purchase Acrylic most conveniently and for the cheapest price (1 hr)
------------------------------------------------
1) Originally the plan to create and test multiple hexagon and octagon shaped rollers would have involved extensive use of the CNC machine in Emerson machine shop and large amounts of aluminum stock. In order to save money and time I came up with the idea of using some sort of plastic or wood and have it precision cut using a laser cutter. These plastic versions could then be tested in order to determine which geometries work the best. Then only the best geometries would be CNC machined and go through final testing. This overall will save money (because acrylic is cheaper than aluminum) and time (because laser cutting is faster than CNC).
2) I spoke to the laser cutting TA's down at Rand Hall in order to see their materials list and available times for laser cutting. My tenative plan as of right now as long as I can get the required stock in time is to cut Thursday night. I have already acquired the necessary software and template for the laser cutting as well. It was also decided that Acrylic was the best option for my purposes.
3) I searched a few different sources in order to find out where to get the Acrylic from including McMaster.com, the Cornell store, and the machine shop in the basement of Clark Hall. Clark turned out to be the best option by far, they had plenty to choose from and it was only ~$3.50 per square foot of 3/16" acrylic. I would have purchased the stock today but their band saw was temporarily broken, I will return tomorrow to retrieve the material I require.
1) Came up with a plan to laser cut octagonal and hexagonal rolling elements out of an inexpensive plastic for testing purposes (10 min)
2) Spoke to laser cutting TA to schedule cutting times and discussed possible materials (20 min)
Today: 10:00am-11:00am
3) Investigated where to purchase Acrylic most conveniently and for the cheapest price (1 hr)
------------------------------------------------
1) Originally the plan to create and test multiple hexagon and octagon shaped rollers would have involved extensive use of the CNC machine in Emerson machine shop and large amounts of aluminum stock. In order to save money and time I came up with the idea of using some sort of plastic or wood and have it precision cut using a laser cutter. These plastic versions could then be tested in order to determine which geometries work the best. Then only the best geometries would be CNC machined and go through final testing. This overall will save money (because acrylic is cheaper than aluminum) and time (because laser cutting is faster than CNC).
2) I spoke to the laser cutting TA's down at Rand Hall in order to see their materials list and available times for laser cutting. My tenative plan as of right now as long as I can get the required stock in time is to cut Thursday night. I have already acquired the necessary software and template for the laser cutting as well. It was also decided that Acrylic was the best option for my purposes.
3) I searched a few different sources in order to find out where to get the Acrylic from including McMaster.com, the Cornell store, and the machine shop in the basement of Clark Hall. Clark turned out to be the best option by far, they had plenty to choose from and it was only ~$3.50 per square foot of 3/16" acrylic. I would have purchased the stock today but their band saw was temporarily broken, I will return tomorrow to retrieve the material I require.
1/30/08 Rohit Hippalgaonkar
Hours :
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Wednesday 1/30 -> 11am to 1pm
Tuesday 1/29 -> 6pm - 8pm
Sunday 1/27 -> 2.30 pm to 3.30pm, 6.30 pm - 7.30 pm.
1. PyDSTool test scripts (1.5 hours)
2. Using Visual python & Editor (3.5 hrs)
3. Integrators and checking for Energy conservations (1 hour)
-------------------------------------------------------------------------------------------------
1. Tested the 'runa_all_tests.py' - a test file that comes with the PyDSTool package. There were some basic modules of this that did not work - such as 'Basic PyDSTool functions', 'PyCont' which I presume will be essential later. Spent time fixing some of the bugs, changing systems settings and installing dependencies for some PyDSTool modules to work.
2. Learnt my way around VPython which seems a handy animation tool for 2-d and 3-d situations. Tested various editors (with Gregg's help) and finalized on FTE. Used the editor to code and check simple physical situations in python (simple pendulum, a ball bouncing on a floor).
3. Tried the Euler and Verlet algorithms on the simple pendulum example (for updating theta and thetadot) - neither algorithm demonstrated conservation of energy. Will code either Runge-kutta into these or code my own integrator for more accurate results.
--------
Wednesday 1/30 -> 11am to 1pm
Tuesday 1/29 -> 6pm - 8pm
Sunday 1/27 -> 2.30 pm to 3.30pm, 6.30 pm - 7.30 pm.
1. PyDSTool test scripts (1.5 hours)
2. Using Visual python & Editor (3.5 hrs)
3. Integrators and checking for Energy conservations (1 hour)
-------------------------------------------------------------------------------------------------
1. Tested the 'runa_all_tests.py' - a test file that comes with the PyDSTool package. There were some basic modules of this that did not work - such as 'Basic PyDSTool functions', 'PyCont' which I presume will be essential later. Spent time fixing some of the bugs, changing systems settings and installing dependencies for some PyDSTool modules to work.
2. Learnt my way around VPython which seems a handy animation tool for 2-d and 3-d situations. Tested various editors (with Gregg's help) and finalized on FTE. Used the editor to code and check simple physical situations in python (simple pendulum, a ball bouncing on a floor).
3. Tried the Euler and Verlet algorithms on the simple pendulum example (for updating theta and thetadot) - neither algorithm demonstrated conservation of energy. Will code either Runge-kutta into these or code my own integrator for more accurate results.
January 29, 2008
01/29/08 Hajime Furukawa
2:00PM - 4:00PM
1) Worked on Motor Controller board (2h)
-----------------------------------------------------------------
1) Searched for and drew out circuit design for the Watch Dog Timer. Started to connect up the two half bridge motor controllers. Looks like a tight fit...
1) Worked on Motor Controller board (2h)
-----------------------------------------------------------------
1) Searched for and drew out circuit design for the Watch Dog Timer. Started to connect up the two half bridge motor controllers. Looks like a tight fit...
1/29/08 Carlos Arango
1. Looked for wiring options of batteries (1hr)
2. shopped Digi Key for connectors (1hr)
------------------------------------------------------------------------
1. The new batteries include a separate wire for charging, so I had to research (eneded up calling the manufacturer) to see if it is actually a separate circuit. Turns out it is, so I have to get at least a 4-circuit connector
2. Digi Key is not the easiest place to shop from. I found out that the only 4-circuit pannel-mount connectors they carry are in an in-line configuration. This would not fit where we plan on mounting the connectors, so I had to shop around for the same type of 6-circout matrix connectors we currently have, since we know those mount well on pannels
2. shopped Digi Key for connectors (1hr)
------------------------------------------------------------------------
1. The new batteries include a separate wire for charging, so I had to research (eneded up calling the manufacturer) to see if it is actually a separate circuit. Turns out it is, so I have to get at least a 4-circuit connector
2. Digi Key is not the easiest place to shop from. I found out that the only 4-circuit pannel-mount connectors they carry are in an in-line configuration. This would not fit where we plan on mounting the connectors, so I had to shop around for the same type of 6-circout matrix connectors we currently have, since we know those mount well on pannels
1/29/08 Gregory Falco
10:00PM-1:00PM
1. Accounting (1 hr)
2. Blog Poster (.5 hrs)
3. Installed Software (1.5 hrs)
-----------------------------------------------------
1. Arranged and submitted necessary forms for pizza purchase. Spoke with Ms. Smiley about account information and arranged a meeting for early Feb.
2. Made an impossible-to-forget blog poster.
3. Installed Microsoft Office on Computer near window, as well as Lynksys. Wireless didn't work so I pulled out the PCI card and reinstalled card with software. It's all good now. Also, performed necessary updates for Norton Antivirus.
1. Accounting (1 hr)
2. Blog Poster (.5 hrs)
3. Installed Software (1.5 hrs)
-----------------------------------------------------
1. Arranged and submitted necessary forms for pizza purchase. Spoke with Ms. Smiley about account information and arranged a meeting for early Feb.
2. Made an impossible-to-forget blog poster.
3. Installed Microsoft Office on Computer near window, as well as Lynksys. Wireless didn't work so I pulled out the PCI card and reinstalled card with software. It's all good now. Also, performed necessary updates for Norton Antivirus.
1/24/2008 Gregory Falco
4:30PM-8:00PM
1. Buy Pizza (1 hrs)
2. Buy Paper Goods (1 hr)
3. Set up room (1 hrs)
4. Signed up People (.5 hrs)
-----------------------------------------------------
1. After failure buying pizza online, ran to CTP and ordered 7 pies. Then bought 2 more pies after seeing packed room at info session.
2. With Avtar's help, purchased all soda and paper goods for meeting
3. Set up room for eating. Made garbage bags from plastic bags strung on chairs!
4. Got e-mail addresses of interested people for lab and what days they would be available for an interview.
1. Buy Pizza (1 hrs)
2. Buy Paper Goods (1 hr)
3. Set up room (1 hrs)
4. Signed up People (.5 hrs)
-----------------------------------------------------
1. After failure buying pizza online, ran to CTP and ordered 7 pies. Then bought 2 more pies after seeing packed room at info session.
2. With Avtar's help, purchased all soda and paper goods for meeting
3. Set up room for eating. Made garbage bags from plastic bags strung on chairs!
4. Got e-mail addresses of interested people for lab and what days they would be available for an interview.
1/23/2008 Gregory Falco
4:30PM-5:00PM
1. Flyers (.5 hrs)
------------------------------------------
1. Hung up flyers in Ag engineering school as well as Upson, Olin, Carpenter, Thurston and any other building that has engineering classes.
1. Flyers (.5 hrs)
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1. Hung up flyers in Ag engineering school as well as Upson, Olin, Carpenter, Thurston and any other building that has engineering classes.
1/22/2008 Gregory Falco
10:30PM-11:45PM
1. Flyer Distribution (15 min)
2. Cornell Residential Program Certification (1hr)
------------------------------------------
1. Hung up flyers on bullitin boards around campus where posting was permitted
2. Pursuaded Cornell Residential programming to authorize our flyers for distribution in Cornell Housing System. Stamped 65 flyers for North and west campus distribution.
1. Flyer Distribution (15 min)
2. Cornell Residential Program Certification (1hr)
------------------------------------------
1. Hung up flyers on bullitin boards around campus where posting was permitted
2. Pursuaded Cornell Residential programming to authorize our flyers for distribution in Cornell Housing System. Stamped 65 flyers for North and west campus distribution.
1/21/08 Gregory Falco
5:00PM-7:00PM, 8:00PM-11:45PM
1. Lab Meeting (~2 hrs)
2. Flyer (3hrs)
3. Logistics (~1 hr)
----------------------------------------------------------
1. Lab Meeting
2. Created flyer for info session with many revisions
3. Planned what needed to be done before the infosession and what information had to go to what departments/people
1. Lab Meeting (~2 hrs)
2. Flyer (3hrs)
3. Logistics (~1 hr)
----------------------------------------------------------
1. Lab Meeting
2. Created flyer for info session with many revisions
3. Planned what needed to be done before the infosession and what information had to go to what departments/people
January 28, 2008
1/28/08 Carlos Arango
1:20-2:50 pm
1. Removed burned out steering servo from Ranger (20 min)
2. Designed mounting mechanism for RadioShack battery boxes (1 hr 10 min)
--------------------------------------------------------
1. Steering servo burned out, and in anticipation of mounting a replacement, Jason had me take it off
2. Jason just ordered the new battery boxes, so I designed and re-designed mounting methods. We have picked one that seems like a good compromise between ease of manufacturing, ease of mounting and sturdiness.
1. Removed burned out steering servo from Ranger (20 min)
2. Designed mounting mechanism for RadioShack battery boxes (1 hr 10 min)
--------------------------------------------------------
1. Steering servo burned out, and in anticipation of mounting a replacement, Jason had me take it off
2. Jason just ordered the new battery boxes, so I designed and re-designed mounting methods. We have picked one that seems like a good compromise between ease of manufacturing, ease of mounting and sturdiness.
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