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Ongo01 – OSCARClient – Department of Electrical and Computer Engineering
Faculty Advisor – Ralph Patterson
Team Members –
9 December 2003
2nd Semester Students:Patrick Jordan CprE / MathFarrukh Mian EE James Sweeney CprE / PsychMichael VanWaardhuizen CprE / EEAbdul Qazi CprE
1st Semester Students:Argenis Acosta CprEDaniel Marquis EE Cory Farver CprEAbdallah Mwita CprEMatthew Frerics EE Jason Olson CprEDaniel Humke A EE Fahad Wajid EE
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Presentation Overview
Introduction & OverviewMotion ControlPowerSensorsSoftwareGeneral Summary
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Introduction
OSCAR is a demonstration robot for use in outreach to students and communityIts goal is to excite and interest students in engineering fieldsComprised of several subsystems, each the responsibility of a subteam
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History
ISU Robotics ClubCYbot
Successful DemosWidely remembered, Goal
OSCARNext generation technologiesMore student development
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Problem Statement
To successfully integrate all subsystems into a functional, safe and usable robotCreate demonstrations of interest to the public of the OSCAR’s capabilitiesPerform demonstrations for interested groups and for university outreach efforts
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Users and Uses
UsersTeam membersOthers who have been trained on the system’s safe operation
UsesOutreach and public relationsEducation of K-12 students
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Operating Environment
Indoors or prepared outdoor areasLevel surfacesModerate Temperatures (>65F)Free of obstacles shorter than 2.5ft
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Team Structure
SubteamsMotion ControlPowerSensorsSoftware
Subteam Leader Coordination
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Motion Control – Ongo01aMembers:Matt Frerichs (EE – 1st) – Team LeaderAlexandre Moulin (ME – 1st)Tom Shedek (ME – 1st)Fahad Wajid (EE – 1st)
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Introduction
The Motion Control Subteam of OSCAR is responsible for controlling the movement of OSCAR as a whole as well as the construction and movement of the arm.
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DefinitionsDefinitions
H-Bridge – Motor control circuit, controls the direction of the motorPCB – printed circuit board LM629 – Motion control circuit, outputs PWM and direction signals for speed and direction controlPWM – pulse width modulation
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Problem Statement
Complete implementation of motion control circuitry that has been designed in previous semesters Re-design motion control circuitry if needed
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End ProductDescription
Movement achieved in the base motors of OSCAR Movement achieved in OSCAR’s arm
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AssumptionsAssumptions and Limitationsand Limitations
Software will be ready to control the motion control circuitryThe power supplied will be sufficient for the needs of the controllers Sufficient funding will be available
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Previous AccomplishmentsPrevious Accomplishments
Motion control circuits designedSome parts of motion control circuits built and preliminary testing started
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Milestones
Achieve base motor movement (65% complete)Achieve arm motor movement (65% complete)
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Future Work
Work with software team on arm control software Improve performance of gripper and actuatorFind different funding sources in order to implement more up to date solutions
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Design ActivitiesDesign Activities
Worked on new motion control scheme with different H-Bridge circuits
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Implementation ActivitiesImplementation Activities
H-Bridges soldered on new PCBsAcquire new gripper actuator motor
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Testing and Modification ActivitiesTesting and Modification Activities
Tested LM629 motion control boardTested old H-Bridge circuitsTesting of new H-Bridge Circuits
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Personnel UtilizationCurrent Hours
OriginalEstimate
RevisedEstimate
Matt Frerichs 60.5 95 63Alex Moulin 38 94 40Tom Shedek 61 93 62Fahad Wajid 49 88 51
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Financial ResourcesHours Rate With
HoursMatt Frerichs 60.5 $20.00 $1210.00Alex Moulin 38 $20.00 $760.00Tom Shedek 61 $20.00 $1220.00Fahad Wajid 49 $20.00 $980.00
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Other ResourcesQuantity Estimated Actual
Poster 1 $5.00/each $3.00/eachMotion Control Components
1 $62.50 $0.00
Aluminum 1 $50.00 $0.00Machine Shop Usage
1 TBD $0.00
Total $117.50 $3.00/each
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Summary
Made progress with OSCAR’s motion control circuitAccomplished some base motion and arm motion
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Work accomplishedWork accomplished
Researched new gripper design
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Assembled Arm
Created working CAD drawings of arm
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Work accomplishedWork accomplishedMachined parts to assemble armDesigned the shoulder to attach the arm to OSCARAssembled the arm
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Future Work
Improve performance of gripper and actuatorAttach the arm to OscarContinue fabricating partsDesign shafts for elbow and shoulderMachine a new handDesign new arm
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Summary
Have completed the fabrication and assembly of OSCAR’s arm
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Power - Ongo-01cTeam Members:Daniel J. Marquis (EE – 1st) – team leaderHong Nguyen (EE – 2st)
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Definitions
DC/DC Power Supply – DC Voltage ‘A’ to DC Voltage ‘B’
DC/AC AC/DC Power Supply – DC Voltage ‘A’ to AC 120V– AC 120V to DC Voltage ‘B’
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Presentation Outline
Introduction – to power sub team projectProject Activities – past, present, futureResources & Schedules – where we areConclusions – results & implications
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Problem Statement
Primary Problem – Inefficient DC/AC AC/DCSecondary Problem –Sensors wall poweredTertiary Problem – Maintenance / Support
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Intended Users & Uses
Users – OSCAR team members(Software, Sensors,
and Motion Control)
Uses – Power OSCAR during demos(The power system is not intended to provide power to non-related devices like home theater systems, full fledged desktop computers, electric lawn mowers, and halogen lamps.)
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Assumptions and Limitations
Short DemonstrationsSensitive Power System Isolation Limited Battery Power
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End Product(s)
DC-DC power supply system for computerPower budget for OSCAROnboard power supply for sensors (either temporary or permanent)
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Previous Accomplishments
DC/DC Converter Designed (Spring ‘02)DC/DC Converter Constructed (Fall ’02)Battery Sensors Installed (Fall ’02)
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Present Accomplishments
DC/DC Testing CommencedPower Budget MadeDocumentation updated & posted on web
Concluded DC/DC not up to spec.
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Future Required Activities
Maintain Power System (ongoing)Improve Fusing (Spring 2004 & ongoing)Commercial Power Supply Evaluation (Spring 2004)
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Approaches Considered and the One Used
Sensor Power- Rechargeable Battery Pack- DC/AC/DC Conversion Setup- DC/DC Converter ( Future)- Run off of PC ( Used Now)
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Project Definition Activities
Not Applicable
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Research Activities
Not Applicable
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Design Activities
Not Applicable (though did improve the previous term’s team’s documentation)
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Implementation Activities
Not Applicable
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Testing and Modification Activities
Tested DC/DC Power SupplyTested old DC/AC AC/DC System
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Other Significant Project Activities
Found DC/DC ConvertersCreated & Posted DocumentationReplaced 3 DC/DC Voltage Regulators (one exploded during a DC/DC power up)Repaired Fried Traces on PC Boards
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Two DC/DC Converters Inside Box
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DC/DC Converters Outside of Box
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Resources & Schedule
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Resource 1/2
Current Hours
OriginalEstimate
RevisedEstimate
Daniel J. Marquis 96.25 70 110
Hong Nguyen 70 67 87
Time (as of 7 December 2003)
Overall Hours Spent
Making report51%
Ordering parts1%
Search for / Read
documentation 11%
Research1%
Physical installation and testing
18%
Meetings18%
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Resource 2/2
Money (as of 7 December 2003)
Item Estimated Actual Difference (Estimated-Actual)
Project Poster (Cost to Sub-Team) $50.00 $6.00 $44.00
Fuses $0.00 $3.00 -$3.00
Voltage Regulators $0.00 $0.00 $0.00
TOTAL $50.00 $9.00 $41.00
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Schedule
Task From Day Month To Day Month Length of Time(total day)
Provide Temp Power
Research testing circuit(DC/DC)Testing DC/DC circuit
Research testing circuit(Monitor Battery)Testing Monitor Battery
Provide Power
21 9
21 9
30 9
21 9
30 9
26 10
23 11
26 10
30 10
26 10
30 10
25 12
45
25
23
25
23
44
Behind due to DC/DC failures
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Project Evaluation
Milestone Priority Completion
DC-DC Converters Found High 100%
Power Budget Created High 30%
Battery Status Verified High 100%
Fuse Protection Implemented / Verified High 25%
DC-DC Converters Tested Medium 80%
Battery Indicators Verified Low 0%
Temp Sensor Power Solution Researched Low 25%
Temp Sensor Power Solution Built and Installed Low 90%
Temp Sensor Power Solution Tested Low 90%
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Recommendations for additional work
Inline, Accessible FusesCommercial DC/DC
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Summary
DC/DCDC/AC AC/DCDocumentationCommercial Solution
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Sensors – Ongo-01dMembers:Michael Van Waardhuizen (CprE/EE – 2nd) – Team LeaderFarrukh Mian (EE – 2nd)Cory Farver (CprE – 1st)Daniel Humke (EE – 1st)
Faculty Advisor: Professor Ralph Patterson IIIClient: Department of Electrical and Computer Engineering
Iowa State University
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Outline
Problem StatementEnd Product DescriptionAssumptions & LimitationsPrevious and Current AccomplishmentsTechnical ApproachesCurrent ActivitiesResourcesConclusion
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Definitions
Azimuth The horizontal angular distance from a reference direction, usually the northern point of the horizon, usually measured clockwise.Micro-controller A microcontroller is an embedded, complete system. A microcontroller typically includes small amounts of memory, timers, and I/O ports.Basic-X24 BasicX-24 is one of the most powerful BASIC programmable microcontrollers.Thermistor A resistor made of semiconductors having resistance that varies rapidly and predictably with temperature
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Problem Statements
OSCAR requires functional sonar system for navigation (has not functioned since Spring 2002)Temperature sensors does not operateCompass sensor does not operate
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Solution Approaches
Research replacement sonar systems, compass systemTest hardware components individuallySimplify software components
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End Product Description
Functional sonar arrayFunctional compassFunctional temperature sensor
Operable by on board computer without assistance
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AssumptionsAssumptions and Limitationsand Limitations
Power system will provide adequate and stable enough powerSonar detect distances from only 1.33 - 35 feet (+/- 3%)The compass sensor must be allowed 2.5 to 3.5 seconds to settle from rotational displacement
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Limitations cont.
The compass sensor must be positioned to have a tilt of no more than +/- 5° with respect to the ground. A successful compass reading can only be done on flat terrain.The compass sensor may have limited accuracy (+/-5° Azimuth) due to electromagnetic interference from drive motors, computers and power supplies The sonar will not experience electromagnetic noise such that prevents proper operation
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Previous AccomplishmentsPrevious Accomplishments
Completed sensors system:8 directional sonar arrayCompassTemperature Sensor
Malfunction left unsolved, array semi-functional at end of last semester, requiring a connection board rework/replacement
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Sonar System
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Present Accomplishments
Replacement of the microcontrollerNetworked OSCAR’s hard drives Researched alternative sonar systemResearched alternative compass circuitsMiscellaneous repairsInitial functional testing of our projects subsystems.
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Future Activities
Research into sensor extensibilitySystem maintenanceReplacement of compass to provide increased accuracyMapping algorithm
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Approach 1
Replacement of old system with new technology:
Pros: A fresh start, re-evaluation of necessary capabilitiesCons: Would require a large amount of money, brand new system isn’t guaranteed to work
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Approach 2
Testing & Repair of existing circuitryPros: Certain that system worked once, low costCons: Errors and bugs difficult to find, especially in hardware, existing system may break again
Chose approach 2 for budgetary reasons.
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Design & Implementation ActivitiesDesign & Implementation Activities
Redesign of a connection boardReplacement of microcontrollerHardware repairs for system integrityNetworking of OSCAR hard drives
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Testing and Modification ActivitiesTesting and Modification Activities
Complete testing of 3 microcontrollers to establish if replacement was necessaryTesting of software for PC and microcontroller to establish operating system dependenceTesting of sonar modules, compass, and temperature sensor for functionality
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Personnel UtilizationCurrent Hours
OriginalEstimate
RevisedEstimate
Michael VW 45 27 45Farrukh Mian 33 27 40Cory Farver 85 26 75Dan Humke 41 25 45
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Personal Util. cont.
Personal Hours (204 Hours Total)
MichaelDanCoryFarrukh
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Financial ResourcesActual Financial Costs
Item Without Labor With Labor
Previous Semester $40.00 $40.00
Sensor $ - $ -
Transducer (2) $ - $ -
Board Etching $ - $ -
Poster Printing $12.00 $12.00
Miscellaneous Parts $57.00 $57.00
Subtotals $109.00 $109.00
Labor at $10.75 per hour
Previous Session $2,931.75
Farver, Cory $913.75
Humke, Daniel $440.75
Mian, Farrukh $354.75
VanWaardhuizen, Michael $483.75
Subtotals $5,124.75
Totals $109.00 $5,233.75
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Schedule
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Summary
Sensors did not function at beginning of the semesterHardware problems mid-semesterReplaced faulty hardwareSystem works, in testing for accuracyIntegration with OSCAR for navigation to come
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Software – Ongo01eMembers:James Sweeney (CprE – 2nd) – team leaderAbdul Nasir (CprE – 2nd) Patrick Jordan (CprE – 2nd) Jason Olson (CprE – 1st) Abdallah Mwita(CprE – 1st) Argenis Acosta (CprE – 1st)
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Introduction
The software sub-team on OSCAR is charged with developing the software controls to OSCAR’s hardware and also creating demonstrations utilizing that hardware.
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Problem Statement
Create a simple software interface for OSCAR system using Java Deploy effective code and document versioning systemExplore available upgrade paths, both hardware and softwareEnsure portability of code
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Design Objectives
Create new low level IO interface for Motion Control Verify that existing demonstrations work with new interfaceDevelop new demonstration capabilitiesSet up system to organize all of OSCAR’s code and documentation in one repository.
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Past Accomplishments
Initial, functional code baseInterface with Motion Control LM 629Speech Capabilities via ViaVoiceInitial arm interface code
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Present Accomplishments
Successful interface with sensorsDelivery of new Motion Control interfaceDeployment of a versioning systemReplacement of malfunction computerImplementation of wireless networkTransition to complete Java solution
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AssumptionsAssumptions and and LimitationsLimitations
The motion control hardware on OSCAR is functional.End-effector will be complete. Sensors are functional and interface via RS232Sufficient resources will be available
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End ProductDescription
Code and document repository for use by entire team Code to run during OSCAR demonstrations. Documentation detailing the operation of the OSCAR software.
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Approaches Considered
Further development on Windows 98Lacks device supportDifficult to find programming resources
Upgrade to more recent Windows OSNot designed for embedded developmentlow level interface code difficult to create
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Approach Used
GNU/Linux OS based solutionGrowing use in undergraduate curriculumExtensive developer supportEmbedded versions readily availableSignificant assistance available from community
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Research ActivitiesOS Choice
Low level IO major concernMust be easily picked up by students
Motion Control BoardsSimplify Motion Control interfaceExpensive, must find willing donor
New, lower power computing solutionSeveral solutionsCost major concern
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Design and Implementation
ActivitiesRe-implementation of low level IORe-factoring of existing software to ensure portability
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Testing and Modification
Modification of existing code to ensure portabilityTesting of Motion Control interfaceTesting of Sensors interface
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Technical Approach
Sensors Hardware
Motion ControlHardware
JNI
Serial Port
I/O Card
Java Codebase
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Technical Approach
Java Codebase
Sensors Hardware
Motion ControlHardware
Java Comm API
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Personnel UtilizationCurrent Hours
OriginalEstimate
RevisedEstimate
Jason Olson 54 63 58Abdul Nasir 34 64 40Patrick Jordan 65 65 67James Sweeney 69 61 70Abdallah Mwita 28 64 30Argenis Acosta 64 63 65
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Resource Utilization
Item Projected Cost Actual Cost
802.11b Card $40 $0 (on loan)
Replacement Computer
Unprojected $0
Poster(Entire Team)
$50 $50
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Milestones
Configure and deploy CVS server for team use. (100% complete)Code portable and IO tested on multiple OS’s (65% complete)Demonstration code to run during OSCAR demonstrations (50% complete)
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Future Work
Complete the arm code; dependent on arm construction Refinement of the speech code and demonstration code Purchase of new lower power computer
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Summary
CVS deployed and populatedIO interface changed by Motion Control, new code developedPortability of code base reviewedOptions for alternate OS paths have been evaluatedWireless access, improved interfaces on the way
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Lessons Learned
Importance of intra-team communicationNecessity of evaluating changes effects on whole projectThe value of versioning systems in large group settings
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Risks and Risk Management
Emergent circular dependencyUse of redundant development paths
Team failure because of single subteamfailure
Created several possible development tracks that can be pursued
Code or document lossUse of CVS with central backup
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Closing Summary
Fully functioning sensors suiteMotion Control has new demonstrated functional interfaceSoftware has deployed new low level code for new Motion Control interfaceDemos will be ready after testing and revision on new low level code, returning OSCAR to a functional state
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Questions?