156B Week 10

Overview of Status of Analysis, Design, Fabrication, Tests, etc.

• • Analysis

    • All analysis is currently done. 

  • Design

    • Final designs are all finished. 

  • Fabrication

    • Aluminum Parts

      • All finished!!

    • PP parts

      • Still being machined.

        • Having some issues with the large diameter PP take-up spool, and are currently in discussion with Tom on how best to fix this. 

  • Tests

    • To be done this week:

      • Length tracking

        • Final length tracking will be tested when PP rollers are finished

      • PD controller

        • Implemented, but need final PP rollers that are smoother. 

Accomplishments from Previous Week

• • Finished making all aluminum parts

Figure 1: Current final prototype with all aluminum parts, and horizontally mounted spools

• • Received and setup load-cells and did primary calibration

    • Implemented load-cell output into the base code to estimate tension in the tubing

  • Implemented PD controller

    • Designed and implemented the PD controller in the Arduino code

    • Follows the basic implementation:

• • • u(ref) was determined to be 80 PWM (trial and error)

    • T(ref) was determined to be 0.3 N (nice wrapping tension)

    • Added a low pass filter on the derivative term to lower noise

• • Setup state code for interface, and implemented button functionality

    • Interface and system will have the following states

      • Start/Pause

      • Reset

      • Calibrate

        • Wrote calibration code for calibrating the load-cells

  • Ordered and just received PP base, and setup lasercut for tomorrow morning for acrylic temporary base.

  • 3D printed electronics enclosure (temporary)

  • Ordered wiring connectors and buttons for interface

    • Will arrive 6/4 and 6/5 respectively

  • Setup sponsor presentation for Thursday (6/6/19) at 1 pm at the company's location

Goals for Next Week (list names after each item). Use specific and measurable objectives.

• • Finish PP parts, and make electronics enclosure (Iman/Jhon)

  • Integrate all the code, and cleanup (Anthony/Pat)

  • Mount everything to base (team)

  • Finish report, website, and poster (by deadlines, team)

Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)

• • Sponsor came to campus and saw working demo

    • Satisfied with demo, and instructed us that 3D printed parts maybe acceptable for the enclosure

      • Jhon found paper (this year), that showed that 3D printed parts met cleanroom standards better than PP

  • Setup final sponsor presentation with other members

Instructor Comments from Last Meeting and Actions Taken to Address these Comments  (indicate date of comments and if via email or in person)

• • Dr. Delson

    • Show before and after graph of tension with and without control. 

    • Show servo arm sweeping in diagram so people can understand how it works. 

Comments from Other Students in the Class (indicate date of comments and if via email or in person)

• • N/A

Risks and Areas of Concern

• • Making the large diameter take-up spool

    • Is currently not as easy to make as the smaller diameter rods, but is a work in progress

    • In discussion with Tom and machine shop to figure out a better way to machine

    • Will possibly redesign how to machine this

Resources or Information Required but not Available

• • N/A

Schedule

• • Present to sponsor (Thursday, 6/6/19 at 1 pm)

  • Report and website Final Draft ( Friday, 6/7/19)

  • Final draft of poster (Sunday, 6/9/19)

Budget (list amount spent and amount remaining)

Progress on Report and Webpage

• • No progress since submission of 2nd draft