If you were logged in and working on this process, you would log your work on this page.
Group meetings for alignment, planning and decision making.
Meeting with Tibi on the project, wrapping up Milestone 1
Meeting with Tim on the project, wrapping up Milestone 1
Presented the project to Ahmed and Hadi, during a meeting at the Sensorica lab. Helped them find their role in the project.
Document Information mining findings in a structured way, to induce stigmergy, to help other organizations use and build on the information, and to allow the sponsor of the project to use the information.
Completely restructured the Milestone 1 document. Communicated new orientations to the group.
The main goal was to make the structure more transparent, exposing the workflow during the design phase, and to make the document more interesting for the network of participants.
Find information about distance sensors and encoders, electrical motors, electrical motor drivers and motion control algorithms.
Proposing a cable length detection solution using cable coloring and image processing. It is based on coloring the cable on predefined distances, and detecting the segments using a PI camera and a lens
Pros and cons of indoor positioning using Wi-Fi
Indoor Positioning System for spiderman Robot, The main objective of this part is to describe how to determine the indoor position for Spider-Man Robot and recommend the best technique can be used.
Writing the transformation matrix equations which are required for positioning the robot in the 3D space
Sourced numerous research papers and component parts, reviewed with Tiberius and incorporated into the information mining document
Continued information mining about motors and controllers, completed the pros and cons table and proposed scores.
Continued info mining on kinematics, interacted with the Hangprinter community and red some new papers.
Extensive literature review on cable robots in general, their architecture and kinematics and kinetics. The main objective was to delineate the domain of expertise. Documented the most important findings in the document.
Continued to search for academic papers about control systems for CDPM, the ones that are describing similar designs. Recorded findings in the Milestone 1 doc. Improved the narrative of the text.
Presenting several references such as papers, patents, books related to cable controlled robots, as well as some existing projects for cable controlled printers and cameras
Investigating a new design of string configuration that increase the 3D space for camera movement
Investigating several types of sensors and mentioning the pros and cons of each of them
Mostly mining about motors and motor controllers. I send email to Sensorica including the technical crowd.
Worked with Ahmed in parallel, online, on mining information about sensors and encoders. Did some work with Tim before on the same topic. Documented everything in the Milestone 1 doc linked in this process.
Kinematics of parallel robots and the relation with speeds and forces. Also the equations to find the position of the end-effector and the structure of the Jacobian Matrix and the specific modifications that is needed to make when it is used a cable instead of a rigid link.
Context: Spider rig
Order: Work order 278 for Deliver the Spider Rig due: 2018-09-11
Sensorica affiliates work in closer collaboration with the R&D team of Sponsor to build shared understanding of the current system, its limitations and possible improvements.
Information mining process for assessing state of the art of available systems.
Revise list of requirements.
All work needs to be documented and structured here