Courses:Field Robot Summer Course:2012:Team 2:Blog

New gearing

The gearing 1:4 didn't work, so we have to reconstruct the robot to use the originally planned 1:11 gearing. Because of gear sizes the ratio will actually be 1:12. Parts have been ordered and should get here today.

Daily scrum meeting 30/8-2012

Songjian:
Since last time: Made bracket for on/off switch. Assisted others
Till next time: Work on fuses. Rewire around fuses. Mount LIDAR.
Problems?:

Nikki:
Since last time: Found good P value. Posters. Made wiiremote work.
Till next time: Help Morten.
Problems?:

Jan:
Since last time: Moved head device to new 2nd layer plate.
Till next time: Try USB rules on robot computer. Help others.
Problems?:

Søren:
Since last time: Painted. Made legs and cloth.
Till next time: Finish legs. Put cloth on the neck.
Problems?:

Morten:
Since last time: Finish the system in theory. Tested in row navigation.
Till next time: Continue testing the in row navigation. Move on to headland.
Problems?:

Daily scrum meeting 29/8-2012

Songjian:
Since last time: Optimized fuse and fuseholder for testing. Helped Morten with IMU.
Till next time: Rewirering.
Problems?:

Nikki:
Since last time: Made motor control adjustable. Reprogrammed FPGA for PID (but cant be used, not enough space in FPGA). Made ROS node to calibrate P-constant. Made ROS node to read speed from FPGA.
Till next time: Finish ROS nodes. Test in row.
Problems?:

Jan:
Since last time: Helped Nikki with ROS nodes. Configured USB rules.
Till next time: Configure final USB rule for FPGA. Try to finish 2nd layer. Else help where needed
Problems?:

Søren:
Since last time: Worked on posters. Head printed.
Till next time: Finish posters. Mount head and LIDAR. Paint. Making legs. Making cloth.
Problems?:

Morten:
Since last time: Made headland navigation using IMU. Made state machine.
Till next time: Optimize state machine. Test in row navigation.
Problems?:

Daily scrum meeting 28/8-2012

Songjian:
Since last time: Looked into ROS and the code for in row navigation.
Till next time: Look into ROS and help Morten with headland navigation. Test in row.
Problems?:

Nikki:
Since last time: Made P regulation work. Reconstructed vehicle to 2 wheeler with castor wheel.
Till next time: Test regulation. Expand to PID. Test in row. Change uTosNet driver to read speed from FPGA.
Problems?:

Jan:
Since last time: Made new top plate.
Till next time: Take a look at the USB rules. Finish the top plate. Change uTosNet driver to read speed from FPGA.
Problems?:

Søren:
Since last time: Draw head in 3D (ready to print). Reconstructed vehicle.
Till next time: Work on posters and drawings.
Problems?:

Morten:
Since last time: Helped Songliang with ROS and the in row navigation. Tested the vehicle
Till next time: Test in row navigation. Work on headland navigation.
Problems?:

Daily scrum meeting 27/8-2012

Songjian:
Since last time: Remade connections. Rechecked them.
Till next time: Look into ROS and help Morten with headland navigation.
Problems?:

Nikki:
Since last time: Written small programs in ROS for motor control and regulation.
Till next time: Check if motor control is working on another FPGA. Test motor control when wheels
are on. Optimize PID controller.
Problems?:

Jan:
Since last time: Helped Søren with construction of new brackets.
Till next time: Make USB rules for sensors, outputs etc. Help Søren finish construction.
Problems?:

Søren:
Since last time: Got the robot working with new gears.
Till next time: Work on 3D drawings and printing the head. Get wires in place and switches.
Problems?:

Morten:
Since last time: Finished in row navigation (untested). Finished remote management (tested)
Till next time: Walk through in row navigation with Songliang. Start working on headland navigation.
Problems?:

Daily scrum meeting 24/8-2012

Songjian:
Since last time: Made connections between layers easier. Made connector to encoder.
Till next time: On/off switch for FPGA. One more connector to encoder. Help Morten with programming.
Problems?:

Nikki:
Since last time: Changed calculations to new gearing. Got motor control working (not optimized).
Till next time: Will consult with other groups. Get remote control working with Morten and Jan. Will look into ROS. Look at motor controller in ROS.
Problems?:

Jan:
Since last time: Optimized the ROS node. Helped Søren.
Till next time: Get remote control working with Morten and Jan. Look at motor controller in ROS.
Problems?:

Søren:
Since last time: Worked on reconstruction because of new gearing. Changed position of components.
Till next time: Get the robot working when the parts comes today. (Weekend:) Work on 3D drawings and printing the head.
Problems?:

Morten:
Since last time: Worked on optimizing the RANSAC. Worked on remote management of the robot.
Till next time: Finish in row navigation. Finish remote management
Problems?:

Daily scrum meeting 23/8-2012

Songjian:
Since last time: Connected components on the robot.
Till next time: Work on in row navigation with Morten. When reconstruction is done: Need to find
fuse. Need to optimize the connections between components. Make anti-vibrate coating for the computer.
Problems?:

Nikki:
Since last time: Got further with PID. Helped test the robot.
Till next time: Work on reconstruction, gearing and belts. Will test motor control.
Problems?:

Jan:
Since last time: Finished ROS FPGA node.
Till next time: Need some fine tuning on the node. Help with reconstruction.
Problems?:

Søren:
Since last time: Got the robot going. Fixed wrongly placed wheel and gearing.
Till next time: Work on reconstruction, gearing and belts.
Problems?:

Morten:
Since last time: Helped with testing robot. Worked on RANSAC
Till next time: Finish in row navigation. Make new test data
Problems?:

Daily scrum meeting 22/8-2012

Songjian:
Since last time: Made another board for the new FPGA. Made on / off switch.
Till next time: Connect components on the robot.
Problems?:

Nikki:
Since last time: Get previous program to run on the new FPGA. Made H-bridge driver. Some PID (untested). Ran some simulations.
Till next time: Will continue on working on the FPGA. Will run simulations to make sure number conversions are correct. Will help place FPGA on robot.
Problems?:

Jan:
Since last time: Worked with Mads on ROS node to FPGA communication.
Till next time: Will finish the node.
Problems?:

Søren:
Since last time: Made the robot ready to drive, mounted all wheels, encoders etc. Made a rainshield.
Till next time: Will start drawing
Problems?:

Morten:
Since last time: Helped with construction. Tweeked RANSAC parameters (noisy).
Till next time: Will make Kalman filter to fuse RANSAC angle with gyroscope.
Problems?:

Daily scrum meeting 21/8-2012

Songjian:
Since last time: Made small improvements on electrical ciurcuit and connected encoder.
Till next time: Finish electrical work and work on visual confirmation on robot state.
Problems?:

Nikki:
Since last time: Got PWM working via μTosNet. Interfaced encoders.
Till next time: Convert μTosNet to new FPGA and own code. Look at PID controller
Problems?: Not enough space on FPGA, will find a new one.

Jan:
Since last time: Found problems with connecting different USB components.
Till next time: Will make rules for USB connections and continue on building ros node for FPGA.
Problems?:

Søren:
Since last time: Made some of the drive train, but couldnt finish because lack of components.
Till next time: Will get final components today to be placed. Will place electrical components
Problems?:

Morten:
Since last time: Planted leeks. Helped other groups and with construction. Worked on RANSAC-
Till next time: Continue on RANSAC and help others when needed.
Problems?:

Daily scrum meeting 20/8-2012

Songjian:
Since last time: Made a connection box
Till next time: Connect encoder

Nikki:
Since last time: Worked on FPGA problems (sites)
Till next time: Continue working on the FPGA. Will work on encoder.

Jan:
Since last time: Worked on construction
Till next time: Create a ros node for connecting with FPGA through µTosNet

Søren:
Since last time: Mounted wheels and general construction
Till next time: Finish wheel mount and construction. The robot should be able to drive layer today.

Morten:
Since last time: Made recordings of driving in rows and turnings. Helped other groups and with construction.
Till next time: Continue on RANSAC and help others when needed.

Daily scrum meeting 17/8-2012

Songjian:
Since last time: Made connections between boards
Till next time: Made connection to second layer.

Nikki:
Since last time: Got µTosNet working. Worked on PWM
Till next time: Work on encoder. Finish PWM

Jan:
Since last time: Worked on construction of the platform
Till next time: Continue on construction.

Søren:
Since last time: Brackets for encoders. Gathered small components. Worked on shield
Till next time: Work on wheels when axles arrive, until that help Jan

Morten:
Since last time: Got RANSAC up and running
Till next time: Continue on RANSAC and help others when needed

Daily scrum meeting 16/8-2012

Songjian:
Since last time: Drawing of the electrical connections on the layers of the robot. Found different components.
Till next time: Will continue work the electrical work.

Nikki:
Since last time: Tried to get FPGA running, but no power, maybe faulty hardware, will talk to Anders. Looked into motor control and consired different possibilities of controlling.
Till next time: Will make model of the motor so its easy to tune the PID. Will start programming FPGA. Look into communication (µTosNet)

Jan:
Since last time: Helped with construction but baseplate was crooked, so looked into ROS.
Till next time: Will help Songjian and try to get the motor running through the H-bridge.

Søren:
Since last time: Got axles drilled out and made connections between axels. General construction.
Till next time: Will continue with construction

Morten:
Since last time: Worked on vision part and helped with construction.
Till next time: Will continue with vision and help with construction when needed.

Found a name

莱昂纳多
Leonardo

Daily scrum meeting 15/8-2012

Songjian:
Since last time: Found components. Started soddering.
Till next time: Will continue work the electrical work.
Problems?:
Nikki:
Since last time: Worked on connecting the FPGA.
Till next time: Will work on motor control.
Problems?:
Jan:
Since last time: Made brackets.
Till next time: Will help with construction.
Problems?:
Søren:
Since last time: Made brackets to place motors.
Till next time: Will continue with construction.
Problems?:
Morten:
Since last time: Got IMU working and started working on the vision part.
Till next time: Will continue with vision part to be able to detect rows.
Problems?:

Daily scrum meeting 14/8-2012

Songjian:
Since last time: Figured out parts of the electrical connections. Calculated power consumption
Till next time: Will do actual electrical connection
Problems?:
Nikki:
Since last time: Made head retraction device with Søren. Looked at axles and get them later today.
Till next time: Continue with construction. Axles, gear and belts will arrive today.
Problems?:
Jan:
Since last time: Worked on wiki team blog.
Till next time: Will continue working on the wiki and if there is time work on ROS.
Problems?:
Søren:
Since last time: Made head retraction device with Nikki. Design workshop.
Till next time: Place motors, and generally continue working on construction.
Problems?:
Morten:
Since last time: Got FroboMind working.
Till next time: Will get IMU working.
Problems?:

Daily scrum meeting 13/8-2012

Songjian:
Since last time: Helped Søren.
Till next time: Will look into fuses and the other electrical circuit with start/stop and e-stop.
Problems?:

Nikki:
Since last time: Looked at gearing and belts. Calculated final sizes.
Till next time: Will order belts and gearings. Will help Søren.
Problems?:

Jan:
Since last time: Worked on ROS but got computer problems.
Till next time: Will update wiki team blog.
Problems?:

Søren:
Since last time: Build frame and shield in wood. Started working on inventor.
Till next time: Continue bulding on the robot and find where to place all components.
Problems?:

Morten:
Since last time: Got LIDAR running.
Till next time: Set up the robot computer with frobomind and continue working on getting the IMU to run with Frobomind.
Problems?:

Daily scrum meeting 10/8-2012

Songjian:
Since last time: Tested the H-bridge. Torque calculations verified by Jørgen.
Till next time: Assist Søren with building frame.
Problems?:
Nikki:
Since last time: Calculated approx. gear ratio.
Till next time: Figure out placement of componenets. Figure out a system for the head retraction.
Problems?:
Jan:
Since last time: Looked at ROS and FroboMind.
Till next time: Get examples running in ROS
Problems?:
Søren:
Since last time: Decisionmaking on components.
Till next time: Build first layer of the robot (structure). Component placement with cardboard
Problems?:
Morten:
Since last time: Found out what wifi connection to use. Helped other guys.
Till next time: Get the (new) LIDAR running with FroboMind
Problems?:

Daily scrum meeting 9/8-2012

Songjian:
Since last time: Read about encoders and motors. Asked for laser range scanner but declined. Assisted structure.
Till next time: Do H-bridge for motors
Problems?:
Nikki:
Since last time: Suggested names for the robot. Calculations on torque.
Till next time: Figured out which motor to use. Update our procurement. Draw where to place components.
Problems?:
Jan:
Since last time: General assistance
Till next time: Will look at FroboMind
Problems?:
Søren:
Since last time: Design and calculations. Budget estimate. Looked into drivebelts and gears.
Till next time: Help Songjian with H-bridge. Do PIA (schedule)
Problems?:
Morten:
Since last time:
Till next time: Look into the WiFi connection.
Problems?:

Daily scrum meeting 8/8-2012

Songjian:
Since last time: Build up test environment for programming. Look for batteries, assist others.
Till next time: Try out motors. Help with testing laser range scanner. Working on H-bridge.
Problems?:

Nikki:
Since last time: Working on ideas with Søren. Finding out which task we should start with. Working on the structure. Worked on gearing. Worked on motors.
Till next time: Work on stucture.
Problems?:

Jan:
Since last time: Researched models. Worked on motors.
Till next time: Working on the Wifi connection for remote monitoring and management.
Problems?:

Søren:
Since last time: Found pieces. Made a prototype of the model. Found 2nd equipment.
Till next time: Keep working on the construction and the prototype.
Problems?:

Morten:
Since last time:
Till next time: Working on the Item frame. Working on the laser range scanner.
Problems?:

TEST ENVIRONMENT

This picture show a few rows of leaches with 75 cm distance between the rows as they looked in my garden monday morning.
Rumors say that we should be able to drive both between leaches and between pots. The leaches will be bought in a shop so they should be more regular than the ones in the picture.
The test field will probably first be established the last week of the course so we need to make our own test environment before that.

FIRST ASSIGNMENT

We were told to make a Robocard and a robot before 12.00 the next day. We decided to make a robot that followed or drove away from a light source. We were considering a hardwired solution but decided to use the Robocard and make a solution in software.

There was some problems getting 2 motors that worked and we actually made the solution using one motor which could only drive forwards so the requirement to drive away from the light source was dropped.