Jacob Tierney’s Work Log

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Week 5

Last week I was able to accomplish most of my goals, excluding the set up of my google forum for the social media team. I am running into issues with the google drive I can’t seem to circumvent creating a difficult situation to rectify. Additionally, I this week, our team developed our drive train for the scrub brush, after bouncing around the ideas of creating a drive shaft, or our current method which is essentially direct drive. We ultimately decided to take the route of direct drive, at the down side of having to find solutions for motor locations, in which we modeled adapted for the frame that they would sit from. We have begun 3d printing these parts, as well as a chuck for drive train to connect to the brushes.

Image of my Husky Clean Diagram:

TODO List:

• Research Networking YAML
• Integrate scrub brush drive train
• Set up ROS
• Fix the Social Media google form.
• Attend Team, general, and sub-team meetings.
• Husky Clean Movement Testing

Concerns:

• Having Husky Clean be compatible with remote controls
• Integrating the code over fully to be capable of testing
• Being potentially unable to correct the issue with our social media google form

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Week 4

Last week I was able to accomplish all of my expected tasks, excluding that of the raspberry Pi 4, due to shipping delay’s. In additional good news, our team got accepted by the SICK $10K contest, so we will be receiving the LiDAR and be able to maybe work on navigation this semester. The initial stages of design relating to the scrub arm are starting to take shape, however more will be discussed next Tuesday during my typical lab time. Not much to talk about at this time to be honest, as I had two exams last week which limited my efficiency and time to just my required objectives. I am going to have to continue looking at networking information for our Pi, as well as getting ROS on our system, but that shouldn’t be a problem. I also finally have the login for the OSHE Instagram and had a sub team meeting, so soon we will begin working on projects for the enterprises social media. As of currently I am making a google forum for social media posts, but am having issues getting it connected to a drive so recipients can upload files. I am probably going to do the arm work Tuesday, and then piece meal everything else as I have free time throughout the week.

TODO List:

• Research Networking YAML
• Design Scrub arm and drive train it
• Investigate ROS setup more
• Fix the Social Media google form.
• Attend Team, general, and sub-team meetings.

Concerns :

I am very worried about meeting our production deadlines, considering we will be receiving alot of our parts much later than we would like due to the weird shipping times of the parts we have ordered, making this project arbitrarily harder as a result. Other than that I have no real concerns at this moment, or acceptance in the SICK challenge has made my fears relating to its autonomy been sated, until the coding part of that starts. Honestly not much to talk about this week, which is nice considering things are going as planned excluding shipping times.

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Week 3

• Attended weekly team meeting, in which we discussed our scrubbing solutions, and researched system requirements for our LiDAR and chosen operating system, resulting in the conclusion that we would not be capable of using our Raspberry Pi 3B due to system requirements, which resulted in the inclusion of a Raspberry Pi 4 4g in the budget, as well as the resolution with our prior issues of implementing ROS noetic onto the Raspberry Pi 3B, which only having one gig of ddr2 ram, was incapable of supporting such elevating a prior time sink. As well, our project specification was edited to comply with the feedback from our advisor.
• Spend time on Thursday in the lab creating a Pugh analysis of our various potential scrubbing solutions, that resulted in the conclusion of a typical scrub brush as compared to a helical or coil brushes. The primary reason being due to efficiency being the least costly and most shapely to produce, and the difficulty it would take to produce a drive train capable of powering the alternatives effectively. https://docs.google.com/spreadsheets/d/1UB8-rJ9URwdkEp24IdclxvEbkhHF6FZ32fYADCQYNeE/edit?usp=sharing
• Weekly hour count : 5 Hours.
• TODO LIST:
  • Order and Install ROS Noetic on the new Raspberry Pi 4 4g.
  • Participate in the team meeting, OSHE general meeting, and GM-EMI weekly meeting.
  • Design and work on a solution for the Scrubber arm and drive chain.
  • Work on Gannt Chart for the project’s timeline.
• Concerns:
  • Acquiring and installing ROS on the new PI within one week.
  • Developing a mounting solution for out hardware on the Shop Vac
  • Developing an alternative and effective mapping system if we do not receive nomination for the SICK LiDAR challenge.
• My inception of Husky Clean

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Week Two

• Attended the weekly team meeting, where power calculation, ROS difficulties were discussed, Coding complications that altered our expected difficulty of autonomy where mentioned, discussion of which shop-vacs to acquire where had, as well as various other expected team roles.
• Participated in larger OSHE team meeting, in which we learned of the Bird Deterrent Project.
• Spent Friday from 10am – 2pm in the lab testing the two Raspberry Pi’s, coming to the determination they both work, although one is having a low voltage issue, both are Pi 3 B’s, which will present problems running versions of ROS we have deemed to be ideal, and both were having issues connecting to school networks, necessitating me connecting them to my hotspot in order for them to connect to the internet. One became flashed with Raspbian, and the other remaining as it was previously. Both had to have their internal clock’s updated. Overall we learned alot about them, and future issues we are going to be presented with as a resulted, resulting to the conclusion we would have to flash a version of Ubuntu on the Pi not experiencing a Low-Voltage issue, and attempt using ROS from there.

• Participated in GM-EMI meeting, in which the team discussed our project proposal secured 900 Dollars of project funding.
• Weekly hour count: 9 Hours.

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