Jacob Tierney’s Work Log

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

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.