ECE 574 Tasks

This page is for the organization of tasks for ECE 574 with Dr. Abidi.

Requirements: Each person must have at least one task that they work on for the semester. Each task will have about 6 subtasks. Please write these below, and see Parker's outline as an example. The majority of the task must be completed this semester. Ideally, your task will help us do better in the competition, but this is not required.

Report: Final result will be that each person writes 3-4 pages total across their task(s). We will have a GitHub repo for our report and class materials. The final report will be in LaTeX. LaTeX is very simple to learn, so please use it if you know it already or are willing to learn. If you don't want to use LaTeX, you can use whatever format you want, just make it available through the repo (link to Google Doc, Word file etc.). In the end, we will combine all reports into the LaTeX final draft. We can help you convert to LaTeX, but it will mostly be your responsibility. Why LaTeX? Beautiful equations, easy table of contents, easy references, good support for version control, consistent styling, and industry standard.

Cory

1. Inverse kinematics of the arm
2. Formulation of Cartesian / polar coordinate system
3. Choice of tool and technical representation of coordinates
4. Solve for forward kinematic equations
5. Solve for reverse kinematic equations, eliminating multiple solutions
6. Testing using forward kinematic equations
7. Integration with robot and calibration
8. Potentially a section about software architecture (modules, communication protocols, getting all the systems to work well with each other), but probably not. It depends on how long my inverse kinematics section is once I'm done and how much Dr. Abidi wants.

Andrew

1. Image processing
2. Block Color Detection
3. Half-block Detection
4. Missing Block Detection
5. Create Simple Calibration
6. Create Simple Detection Test
7. Add Camera Check to Diagnostic

Alex

1. 3D Printing and Design
2. Mouse Sensor Bracket Design
3. Construction/Printing/Post-Processing/Wiring of Mounting Brackets
4. Testing of Brackets with Sensors
5. Design/Print/Install Course Switch Mount
6. Design/Print/Install Power Switch Mount
7. Rewire Robot with new Switches - with Maxx

Maxx

1. Signal and wire management
2. Plot out all wiring and systems
3. Create current wiring schematic in Altium designer
4. Revise and simplify current wiring and signal conditions by creating new PCBs
5. Schematic and layout of PCBs
6. fabrication and testing of boards and systems.

Parker

Task 1 is my primary task.

1. Navigation Implementation/Strategy
2. Advance robot from start square through tunnel (50 points)
3. Align robot such that the loader may load zone A blocks (+10 points)
4. Move robot from zone A to sea zone to drop off blocks (+48 points)
5. Move robot to zone B and align to collect blocks
6. Move robot from zone B to each of the rail zone bins (+260 points)
7. Move robot to collect zone C blocks
8. Move robot to deposit blocks in truck zone (+60 points) and back to sea zone (+12 points)
9. Determine methods to improve navigational efficiency and reduce error
10. System Testing Procedures and Statistics (possible task)
11. Create course randomization tool
12. Create points calculator
13. Test weekly and record points total & notes for three random runs each week
14. Record timing data and error data for each of the robot's actions/tasks
15. Determine strategy options to maximize points based on empirical data and competition rules

Also, we could maybe use some of the robotics demo things as tasks? We should build those as we have time this semester for outreach, etc.

Brett

1. Virtual visualization for sensory interpretation and education
2. Inside->Out Positional Tracking / Area learning with Project Tango
3. Outside->In Positional Tracking with Vive Lighthouse Basestation
4. VR representation of tracked Robot
5. VR control of Robot
6. Visualization of sensor output

Anthony

1. Bin Detection
2. Move arm to aim the camera at the bin zone.
3. Take a picture of the bins for each permutation.
4. Write a program to find ranges for the bin colors in HSV color space.
5. Write a program to find centers of visible bins.
6. Write a function to get order of bins using centers of 3 bins and adding the 4th bin to the appropriate side based on course orientation.
7. Refactor code to be used in functions for Dominate.py
8. Test code on the robot.
9. Integrate code into the robot modules.
10. Write a program to take pictures and find ranges quickly at the competition (because of different lighting conditions).