Embedded Files
Author: Lutfiyah Nawaz Mohammed, Astrid Salazar
Witness: Ms. Maria Osoria and Ms. Manisha Shah
Date: 11/16/2020
Duration: 5:00 - 6:30
TABLE OF CONTENTS
Attendance
Ahmed Mahmud
Manyata Arora
Amanpreet Dhah
Hooryah Raja
Murtaza Raja
Martin Soliman
Martina Soliman
Syed Shah
Benjamin Fitzgerald
Caitlyn Mei Roxas
Arleen Dhah
Atharva Khandelwal
Abrahim Mahmud
Abriti Chatterjee
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
Anirudh Chaturvedula
Astrid Salazar
Ehtesham Suhail
Lutfiyah Mohammed
Prajwal Khanal
Ria Gray
Shaurya Singh
Sivaditya Padmanabhan
Tvisha Doshi
Vanisha Rajlakshmi
Ved Borade
Venya Goyal
Yuga Patel
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
✅
Team Planning
Agenda
The Agenda for the Robotics team today is to learn the following: LUT (look-up tables), InturpLUT (interpolated lookup tables), Timing functions, Math Utilities, and Directional enums. Also we plan to get a part of our OpenCV program done and to test it out.
Today, the hardware team was divided into two groups. While one part of the team worked on importing the acrylic into the main CAD workspace. The other part of the team worked on the gripper.
Reflection
Ahmed explained the design for the acrylic, to hold to the wires, to half of the hardware team. The team managed to prepared all the channels that are needed to attach the acrylic to the chassis securely.
The other half of the hardware team determined a design for our gripper, using slides, and started building it.
The Robotics team went over the principles and used the knowledge to finish coding. By the end of the explanations, the team had a grasp on the information.
We spent the majority of our time constructing code to eventually complete our OpenCv program. This particular part of the software detects the number of rings on the ground.
In the future, we want to incorporate the concepts we learned today into any upcoming program that we code and connect it with autonomous programs.
Hardware
Agenda
The acrylic team first planned out how we are going to incorporate the two acrylic sheets on top of the robot.
Leo and Benjamin designed and started to build our gripper to move the wobble goals.
Acrylic group: Astrid, Vanisha, Yuga, Tvisha, Tessa
Gripper group: Leo and Benjamin
Reflection
Acrylic team:
After the planning we started the design by adding two u-channels on both sides of design.
Then we attached quad block pattern mounts to the top of the u-channels.
We imported necessary components to attach the acrylic that will be incorporated in the future.
We made edits to the original blueprint on the CAD, fixed many collisions and replaced the mates so we could simulate the movement on the CAD itself.
Leo and Benjamin are trying to replicate a Three Stage Cascading lift.
By next meeting we plan to finish mounting the acrylic, add standoffs, and attach the expansion hubs to the acrylic.
We also plan on getting measurements for cable plugs in order to determine the correct measurement for the holes on the acrylic.
Tvisha is going to work on finding the diameters or the cables we are going to use to estimate the diameter of the holes next to the expansion hubs.
Gripper team:
We plan on getting the linear slides to move in the third dimension, and brainstorm how to design a fourth dimensional direction.
The linear slide of the gripper has been completed. The animations for the slide are functioning correctly.
These animation provide us with a visual of how the gripper would move in real life which is essential to knowing how the gripper will interact with the wobble goal.
Overall team:
One of our complications was the lack of a couple of our team members.
Unfortunately because of technical difficulties a couple of members were logged off of the meeting and were unable to log back on for a long time. These are inevitable problems because the internet and virtual communication applications can often malfunction.
This is a top view of how we plan to attach the acrylic to the chassis. As you can there are two 11-hole U-channels on either side that will hold up the highest acrylic, maintaining our robots overall height at less that 18 inches (which is the limit). In this photo you can also see the rev expansion hubs that we are attaching to the acrylic next meeting. Attaching these will serve as reference of where the holes should go for the screws to hold them in place.
This is the sketch of the acrylic sheet design that our team captain, Ahmed, explained to the acrylic sheet team. Our plan is to have the two tall channels holding up the top acrylic and from the top acrylic hang a smaller acrylic, using standoffs. Thus smaller acrylic will hold the bulk of the weight, the expansion hubs and the battery. We have found that our team responds better to visuals thus whenever we are explaining new concepts/ideas we utilize the whiteboard feature on zoom to our advantage.
Programming
Agenda
Currently, the agenda is to make sure the robotics team understands LUT (look-up tables), InturpLUT (interpolated look-up tables), Timing functions, Math Utilities, and Directional Enums.
We are also going to do the last portion of our OpenCV program and evaluate it.
Reflection
The team meeting progressed well because we payed attention and wrote notes/any questions we had to further our understanding on the concept. Shaurya provided explanations about look-up tables, interpolated look-up tables, timing functions, math utilities, and directional enums.
We also explore other functions regarding how the code works and operates which is mentioned in the captions.
The remaining time we spent creating code to finally finish the OpenCv program we have been perfecting. This specific part of the program is designed to detect the amount of rings on the field.
After, we were able to test the program.
We developed a new program with OpenCV that allows the robot to understand how many rings there are on the ground.
In the future, we want to incorporate the concepts we learned today into upcoming programs that we code.
Additionally, we would like to improve our OpenCV program and linked with our other programs such as the autonomous ones.
This is showing how the phone uses contours instead of rectangles to detect the rings from anywhere in the camera’s view. The box to the left shows the code the phone is performing currently. The right is the actual phone screen itself. The rings are outlined in blue and whatever else the camera picks up is outlined in green.
Here, Shaurya is demonstrating how the code works. To the left is the images he used to test the code using the rings, as we don’t have the rings in person yet. The picture used in this demonstration was the stack of four. On the bottom right, we see “[Ring Stack]>>:[HEIGHT] FOUR” telling us that the camera picked up four rings, as it was supposed to.
Google Sites
Report abuse