1:00 pm - 5:30 pm
-Meetings to determine basic design of new controls system
-Sending notes to the rest of the future electronics team
February 9, 2008
2/9/'08, Rohit Hippalgaonkar
Tuesday (2/5) : 4 pm to 6 pm (from home)
Friday (2/8) : 11 am to 12.30 pm; 1.30 pm to 4.30 pm
Saturday (2/9) : 2.30 to 4.30 pm; 6.45 pm to 8.15pm
------------------------------------------------------------------------------------------------
* More work on the simplest walker in Python - Last week when I implemented the simplest walker, I essentially only animated it - this meant that I was looking for stable solutions to the problem while tinkering around with the initial conditions. This week I have been going by the conventional procedure - looking for solutions (root solving) and then looking for equations.
* Want to build on the simplest walker in python to eventually simulate a model of the Ranger that is similar to the one Pranav is building in MATLAB.
Friday (2/8) : 11 am to 12.30 pm; 1.30 pm to 4.30 pm
Saturday (2/9) : 2.30 to 4.30 pm; 6.45 pm to 8.15pm
------------------------------------------------------------------------------------------------
* More work on the simplest walker in Python - Last week when I implemented the simplest walker, I essentially only animated it - this meant that I was looking for stable solutions to the problem while tinkering around with the initial conditions. This week I have been going by the conventional procedure - looking for solutions (root solving) and then looking for equations.
* Want to build on the simplest walker in python to eventually simulate a model of the Ranger that is similar to the one Pranav is building in MATLAB.
February 8, 2008
2/8/08 Carlos Arango
10:15-12:00p again 12:30-3:45p
1. Helped Bram with LabView code for sensor data (1 hr 45 min)
2. Machined mounting rails for center battery box (2 hr)
3. Ranger team meeting (45 min)
4. Mounted center battery box (30 min)
------------------------------------------------
1. The LabView code for the Ranger data acquisition is confusing, so it took us a while to figure out how to incorporated the measurements from the load cell into it (though Bram did most of the coding)
2. Center battery box required 3 mounting rails because of the screw configuration on the center portion of Ranger
3. Self-explanator. We decided that the next big goal is to take lots of measurements and double-check all assumptions our models are making
4. Center battery box is now mounted, although the connector for the batteries is in the wrong place because I was unable to ask Jason for a final location since he was busy with meetings all day
1. Helped Bram with LabView code for sensor data (1 hr 45 min)
2. Machined mounting rails for center battery box (2 hr)
3. Ranger team meeting (45 min)
4. Mounted center battery box (30 min)
------------------------------------------------
1. The LabView code for the Ranger data acquisition is confusing, so it took us a while to figure out how to incorporated the measurements from the load cell into it (though Bram did most of the coding)
2. Center battery box required 3 mounting rails because of the screw configuration on the center portion of Ranger
3. Self-explanator. We decided that the next big goal is to take lots of measurements and double-check all assumptions our models are making
4. Center battery box is now mounted, although the connector for the batteries is in the wrong place because I was unable to ask Jason for a final location since he was busy with meetings all day
Friday 2/8
10:30 to 12:30 am
Worked on synchronizing protocol between data and video. Spit up the program into 3 modes:
1. Graphs only
2. Video only
3. Graphs + Video mode
This will allow easier sychronization protocol.
Worked on synchronizing protocol between data and video. Spit up the program into 3 modes:
1. Graphs only
2. Video only
3. Graphs + Video mode
This will allow easier sychronization protocol.
Thursday 2/7
3 - 4 pm
Introduced the graphing program to Laeticia so that she can slowly take project over.
Discussed issues about synchronizing video and data.
Introduced the graphing program to Laeticia so that she can slowly take project over.
Discussed issues about synchronizing video and data.
February 7, 2008
02/07/08 Nicole Rodia
8:00 - 9:00
Preliminary research on USB interface, USB hubs, and FlexRay.
-FlexRay Consortium is still in effect until Dec. 2008 - must be a member to use FlexRay technology
Preliminary research on USB interface, USB hubs, and FlexRay.
-FlexRay Consortium is still in effect until Dec. 2008 - must be a member to use FlexRay technology
2/7/08 John Buzzi
1:45-3:30
1) Completed preparation of the drawings of the rolling elements for the plasma cutter. (1 hr 30 min)
-----------------------------------
1) Thanks to the quirky nature of the solidworks DWG editor I ran into more speed bumps today while finishing up the part drawings. However they are now fully drawn and properly formatted so that the plasma cutter will be able to correctly acknowledge the outer profile and the interior cuts as different entities. I plan on going tomorrow at some point to the plasma cutting facility to actually create the parts (asusming that the operator is availible).
1) Completed preparation of the drawings of the rolling elements for the plasma cutter. (1 hr 30 min)
-----------------------------------
1) Thanks to the quirky nature of the solidworks DWG editor I ran into more speed bumps today while finishing up the part drawings. However they are now fully drawn and properly formatted so that the plasma cutter will be able to correctly acknowledge the outer profile and the interior cuts as different entities. I plan on going tomorrow at some point to the plasma cutting facility to actually create the parts (asusming that the operator is availible).
February 6, 2008
2/6/08 John Buzzi
7:15-9:15pm
1) Created wheel shaped designs in the CAD models of the rolling elements (30min)
2) Created drawings from the rolling models and worked on preparing them for plasma cutting(1hr 30 min)
---------------------
1) The rolling elements until this point were totally solid octagons and hexagons. I took the models and removed material so that a bicycle wheel pattern with "spokes" was left. I did this for four different models.
2) I took the newly finished models and spent a good amount of time learning how to properly format the drawings in solidworks DWG editor so that the plasma cutter can work as expected. About half the time was spent familiarizing myself with the program which is much different than solidworks itself. The other half of the time I spent fully preparing one of the 4 models to be cut. The rest will be done tomorrow and then plasma cut on friday hopefully.
Note: I also spent time (1 hour) yesterday testing the designs that were laser cut to determine which we should try out on the plasma cutter. I decided to to one hexagon and one octagon, the reason I dont have an official post is because I had just about finished writing it but then the computer went to the blue screen of death, so this is my makeshift post for that work. (Carlos witnessed this occurance)
1) Created wheel shaped designs in the CAD models of the rolling elements (30min)
2) Created drawings from the rolling models and worked on preparing them for plasma cutting(1hr 30 min)
---------------------
1) The rolling elements until this point were totally solid octagons and hexagons. I took the models and removed material so that a bicycle wheel pattern with "spokes" was left. I did this for four different models.
2) I took the newly finished models and spent a good amount of time learning how to properly format the drawings in solidworks DWG editor so that the plasma cutter can work as expected. About half the time was spent familiarizing myself with the program which is much different than solidworks itself. The other half of the time I spent fully preparing one of the 4 models to be cut. The rest will be done tomorrow and then plasma cut on friday hopefully.
Note: I also spent time (1 hour) yesterday testing the designs that were laser cut to determine which we should try out on the plasma cutter. I decided to to one hexagon and one octagon, the reason I dont have an official post is because I had just about finished writing it but then the computer went to the blue screen of death, so this is my makeshift post for that work. (Carlos witnessed this occurance)
Simulation: Modeling of ranger
Simulation group meet 02-04-2008
Why simulation?
a) Develop, test and demonstrate new control ideas.
b) But in order to simulate one needs a good model
This meet was about b)
Robot model features:
Mass and dimension:
1) Inner leg similar to outer leg?
Issue: Control of asymmetric legs is much difficult as compared to similar legs.
Soln: Try controllers on symmetric legs and than move on to asymmetric legs.
2) Inertia and mass of feet is zero?
Issue: During swing phase, motor and tensioning spring have to swing the feet up and down after push off and just before heelstrike respectively.
Soln: : Trivial calculation to check if motor and tensioning spring can swing the feet at the right speed incorporating the dynamics of the feet and motor model.
3) Feet profile circular?
Springs and Motors
4) Cable Elasticity?
Issue: Cable elasticity adds compliance between ankle joint and ankle motors
Soln:: Modeled by introducing a degree of freedom at the motor joint.
5) Dry Friction in motor?
6)Gear Play?
Issue: Leads to hysteresis and instability
Soln: Include later.
7) Motor free or locked in heelstrike.
Soln: Ankles motors irrelevant due to cable elasticity (compliance). Hip motor should be kept free.
8) Motor Inertia:
Issue: Reflected inertia and hence limits on maximum accelerations. Adds another degree of freedom.
Soln: Include inertias in the motor model
9) Include Hip Spring?
Soln: Add Hip Spring. Improves energetics if tuned properly.
10) Tensioning spings in drive side and back tension?
Issue: Affects the ankle foot lift off and keeps the cable from unwinding.
Collision and Friction
11) Feet bottom are rigid?
Treat all bodies as rigid and don't allow for any deformation.
12) friction is infinite?
13) No slip
Leads to friction paradox in simulations. See Tad McGeer's paper on Wobbling, toppling and forces of contact.
Why simulation?
a) Develop, test and demonstrate new control ideas.
b) But in order to simulate one needs a good model
This meet was about b)
Robot model features:
Mass and dimension:
1) Inner leg similar to outer leg?
Issue: Control of asymmetric legs is much difficult as compared to similar legs.
Soln: Try controllers on symmetric legs and than move on to asymmetric legs.
2) Inertia and mass of feet is zero?
Issue: During swing phase, motor and tensioning spring have to swing the feet up and down after push off and just before heelstrike respectively.
Soln: : Trivial calculation to check if motor and tensioning spring can swing the feet at the right speed incorporating the dynamics of the feet and motor model.
3) Feet profile circular?
Springs and Motors
4) Cable Elasticity?
Issue: Cable elasticity adds compliance between ankle joint and ankle motors
Soln:: Modeled by introducing a degree of freedom at the motor joint.
5) Dry Friction in motor?
6)Gear Play?
Issue: Leads to hysteresis and instability
Soln: Include later.
7) Motor free or locked in heelstrike.
Soln: Ankles motors irrelevant due to cable elasticity (compliance). Hip motor should be kept free.
8) Motor Inertia:
Issue: Reflected inertia and hence limits on maximum accelerations. Adds another degree of freedom.
Soln: Include inertias in the motor model
9) Include Hip Spring?
Soln: Add Hip Spring. Improves energetics if tuned properly.
10) Tensioning spings in drive side and back tension?
Issue: Affects the ankle foot lift off and keeps the cable from unwinding.
Collision and Friction
11) Feet bottom are rigid?
Treat all bodies as rigid and don't allow for any deformation.
12) friction is infinite?
13) No slip
Leads to friction paradox in simulations. See Tad McGeer's paper on Wobbling, toppling and forces of contact.
February 5, 2008
02/05/08 Hajime Furukawa
1:00 PM - 4:00 PM
1) Worked on MotorController Board (3h)
------------------------------------------------------------------
1) Discussed with Jason how more the the wires on the board are supposed to be connected up. Looked for a proper AND gate integrated circuit to add to board design. Made component for AND gate IC. Also read some data sheets on the motor controller and other various components.
1) Worked on MotorController Board (3h)
------------------------------------------------------------------
1) Discussed with Jason how more the the wires on the board are supposed to be connected up. Looked for a proper AND gate integrated circuit to add to board design. Made component for AND gate IC. Also read some data sheets on the motor controller and other various components.
2/5/08 Carlos Arango
11:30-12:00p again 1:00-2:00p
1. Attempted setup of loadcell on lab computer
2. planed Rail design for center battery box.
--------------------------------------------------
1. Bram and I tried to open a labview program to interpret data from the loadcell, but we found we are missing drivers. We initiated a download for these drivers, of total 780MB size.
2. The center rails provide a design challenge, as there are no top screws to mount the rails under. Jason has suggested I may install screws on the mesh, but I will explore other options first
1. Attempted setup of loadcell on lab computer
2. planed Rail design for center battery box.
--------------------------------------------------
1. Bram and I tried to open a labview program to interpret data from the loadcell, but we found we are missing drivers. We initiated a download for these drivers, of total 780MB size.
2. The center rails provide a design challenge, as there are no top screws to mount the rails under. Jason has suggested I may install screws on the mesh, but I will explore other options first
2/4/08 Carlos Arango
1:15-2:55pm
1. Helped Bram with code(1 hr 20 min)
2. Started setting up load cell on other lab computer (20 min)
---------------------------------------------------------------
1. As an exercise, Jason asked Bram to write a buffer reading function, and me to watch and offer my input.
2. After we finished with the programming, Bram asked me to hook up the load cell to the computer in the back of the lab so he could take some readings from Ranger
1. Helped Bram with code(1 hr 20 min)
2. Started setting up load cell on other lab computer (20 min)
---------------------------------------------------------------
1. As an exercise, Jason asked Bram to write a buffer reading function, and me to watch and offer my input.
2. After we finished with the programming, Bram asked me to hook up the load cell to the computer in the back of the lab so he could take some readings from Ranger
2/5/08 Gregory Falco
10:00Am- 1:00PM
1. Blog (1.5hr)
2. Accounting (.5hrs)
3. Schedule (.5 hrs)
4. Presentation Schedule(.5hrs)
----------------------------------------------------
1. Invited new members to lab blog and sent an instructional e-mail regarding what the purpose of the blog is and how to use it properly.
2. Prepared a statement of food for the accounting office with everyone's names present at the meeting. Then allocated funds to 8712 and brought receipts to accounting.
3. Created a schedule sign up sheet for the lab meeting tomorrow.
4. Created a presentation schedule for lab meeting. This will prove to be an effective way of ensuring people prepare their presentations for the lab meeting as they will have proper notice time.
1. Blog (1.5hr)
2. Accounting (.5hrs)
3. Schedule (.5 hrs)
4. Presentation Schedule(.5hrs)
----------------------------------------------------
1. Invited new members to lab blog and sent an instructional e-mail regarding what the purpose of the blog is and how to use it properly.
2. Prepared a statement of food for the accounting office with everyone's names present at the meeting. Then allocated funds to 8712 and brought receipts to accounting.
3. Created a schedule sign up sheet for the lab meeting tomorrow.
4. Created a presentation schedule for lab meeting. This will prove to be an effective way of ensuring people prepare their presentations for the lab meeting as they will have proper notice time.
February 4, 2008
2/4/08 John Buzzi
*on 2/1/08 (last friday)
1:00-3:00
1) Met with ranger group to discuss what needs to be done (1hr 15min)
2) Made the ankle cables stiffer by replacing a portion of cable with a metal rod (45 min)
------------------------------
1) Initial projects were discussed to get the walker back on its feet, my first project is going to be to machine the gears so that they snugly fit onto the new servo motors for the steering system.
2) Brom and I soldered a long metal rod in series with the existing cables that run down the legs to the ankles. This was done in order to increase the stiffness of the control system.
------------------------------
Today 2/4/08
10:00-11:00am and 12:20 -2:45
1) Finished the laser cutting drawings of the rolling elements
2) located and purchased acrylic from clark hall
3) Cut elements using laser cutter at rand hall
4) examined and did some preliminary tests of the elements as well as discussed possibilities of plasma cutting
--------------------------------
1)Converted the solidworks drawings of the rolling elements into the laser cutting format and set them up as per the template supplied.
2) Went to clark hall to measure and cut the necessary amount of acrylic. The acrylic was purchased from the machine shop for $5.08 cash.
3) laser cutting of the rolling elements was completed at rand hall on the spot
4) The laser cutter seemed to do a decent job of acurately cutting the shapes. The octagons in general rolled better than the hexagons (which was expected). Both the concave and convex octagons rolled when the incline was steep enough, but they acheived the desired effect on a more level surface. The hexagons behaved nicely on the steeper incline than they did on the more level slope. I intend to investigate the plasma cutter either today or tomorrow in order to determine if it makes sense to try making the shapes using that method.
1:00-3:00
1) Met with ranger group to discuss what needs to be done (1hr 15min)
2) Made the ankle cables stiffer by replacing a portion of cable with a metal rod (45 min)
------------------------------
1) Initial projects were discussed to get the walker back on its feet, my first project is going to be to machine the gears so that they snugly fit onto the new servo motors for the steering system.
2) Brom and I soldered a long metal rod in series with the existing cables that run down the legs to the ankles. This was done in order to increase the stiffness of the control system.
------------------------------
Today 2/4/08
10:00-11:00am and 12:20 -2:45
1) Finished the laser cutting drawings of the rolling elements
2) located and purchased acrylic from clark hall
3) Cut elements using laser cutter at rand hall
4) examined and did some preliminary tests of the elements as well as discussed possibilities of plasma cutting
--------------------------------
1)Converted the solidworks drawings of the rolling elements into the laser cutting format and set them up as per the template supplied.
2) Went to clark hall to measure and cut the necessary amount of acrylic. The acrylic was purchased from the machine shop for $5.08 cash.
3) laser cutting of the rolling elements was completed at rand hall on the spot
4) The laser cutter seemed to do a decent job of acurately cutting the shapes. The octagons in general rolled better than the hexagons (which was expected). Both the concave and convex octagons rolled when the incline was steep enough, but they acheived the desired effect on a more level surface. The hexagons behaved nicely on the steeper incline than they did on the more level slope. I intend to investigate the plasma cutter either today or tomorrow in order to determine if it makes sense to try making the shapes using that method.
February 3, 2008
2/3/2008 Gregory Falco
1:00PM-1:30PM
1. Colts/Blog Update (.5hrs)
----------------------------------------------
1. Made a digest for hours worked in lab for recent pay period using blog. I am trying to figure a way to do this automatically because it takes a while by hand.
1. Colts/Blog Update (.5hrs)
----------------------------------------------
1. Made a digest for hours worked in lab for recent pay period using blog. I am trying to figure a way to do this automatically because it takes a while by hand.
2/1/2008 Gregory Falco
12:00PM-1:00PM
1. Project Team List (.5 hrs)
2. Doodle (.5hrs)
--------------------------------------------
1. Consolidated list of student project teams and sent e-mails to each team with instructions as to who their leader is and when they should make their first meeting by.
2. Wrote an e-mail with explicit instructions as to how to use the meeting maker website Doodle.ch It is a great and efficient method for making meetings everyone can do.
1. Project Team List (.5 hrs)
2. Doodle (.5hrs)
--------------------------------------------
1. Consolidated list of student project teams and sent e-mails to each team with instructions as to who their leader is and when they should make their first meeting by.
2. Wrote an e-mail with explicit instructions as to how to use the meeting maker website Doodle.ch It is a great and efficient method for making meetings everyone can do.
1/30/2008 Gregory Falco
2:00PM-5:00PM , 5:30PM-6:30PM
1. Installed Acronis (.5 hrs)
2. Found and Installed Labeling Templates (.5 hrs)
3. Labeled SMD (2 hrs)
4. Lab Meeting (1 hr)
---------------------------------------
1. Installed Acronis software on New Computer near window. It does not seem to read the external drive so we spent a while trying to reconfigure--- it's a work in progress.
2. Since the old computer had been discarded, we didn't have the appropriate labeling software on the system anymore. I had to find new software compatible with our sized labels.
3. Labeled SMD parts and have begun to reorganize binder
4. Lab Meeting
1. Installed Acronis (.5 hrs)
2. Found and Installed Labeling Templates (.5 hrs)
3. Labeled SMD (2 hrs)
4. Lab Meeting (1 hr)
---------------------------------------
1. Installed Acronis software on New Computer near window. It does not seem to read the external drive so we spent a while trying to reconfigure--- it's a work in progress.
2. Since the old computer had been discarded, we didn't have the appropriate labeling software on the system anymore. I had to find new software compatible with our sized labels.
3. Labeled SMD parts and have begun to reorganize binder
4. Lab Meeting
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