P16051: Robotic Eye Motion Simulator 2
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Integrated System Build & Test with Customer Demo

Table of Contents

Team Vision

Here are some of the deliverables we have completed since our last review!

Software Updates and Tests

Several features were added to the GUI. Alternate speed settings are now useable by selecting different speed profiles. In addition to this, the high level feedback (HLFB) from the motor is now operational which allows the motor to communicate to the GUI when the movement has finished.

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Encoder Count Error Analysis

A test script was created in order to simulate movements that the user would use. The script involved traversing from 30 degrees to -30 degrees and then decreasing increments until 0 degrees was reached. At 0 degrees, the motor will ideally be at encoder count 0 with no offset. This script of 13 movements was run 25 times and the motor was re-zeroed after each run.

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The tallied data was analyzed and the mean expected value was found to be 1.52 counts with a standard deviation of 1.89 and standard error of 0.38. With this, the user can expect +/- 2 encoder counts of offset after running a script similar to this one with a maximum offset of +/- 4 encoder counts being the worst expected case.

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GUI Timing Error Analysis

There was some discrepancy between our GUI timing method for measuring movement duration, and when the motor actually moved and came to a rest. This we believe is due to the execution time on the Arduino and the execution time in the program. This graph represents an effort to quantify and correct for the error.

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Risk and Problem Tracking

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SW Model Images

Angle Setting Mechanism

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We had the idea to just use a very simple method to alter the angle of the entire device. We slip an "aluminum door stop" under it with graded steps and there is a small notch in the base plate that straddles each step. Each step would correspond to an angle.

COMSOL Analysis

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We changed the base plate design slightly and ran a COMSOL analysis to make sure the deflection due to the loads on top was still very small. We found the maximum deflection was in the nanometer scale.

Bill of Materials

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Download the Bill of Materials.

Update on Manufacturing

All of the system components have been either ordered, submitted to be machined, are planned to be machined by the team, or are already complete.

Parts That Are Complete and On Hand

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Parts That Have Been Submitted

Parts To Be Machined By Team

Meetings with Topic Specialists

ME Shop - Rob Kraynik, Jan Maneti

Unfortunately, one of the parts that the team submitted to be machined was taken by someone, leaving us without our part. Due to this, the part had to be re-machined, which put the machining progress several days behind schedule.

Consulting on Machinability of Components

Brinkman Lab - John Bonzo

The Calibration Unit has been 3D printed in the Brinkman Lab by John Bonzo. Since receiving the part, we have submitted it to the ME shop to have a hole bored to embed the laser.

Consulting on New Enclosure for Power Supply

Finalized Design!

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Isometric View of the Device

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Front View

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Top View

Paper, Poster and Design Competition Information

Our current versions of our final paper, poster, and design competition proposal can be found here!

Paper

Poster

Proposal

Functional Demo Materials

Presentation

Plans for next phase


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