Verification & Validation

Table of Contents

1 Team Vision
2 Software Updates and Analyses
- 2.1 User Guide
- 2.2 Performance Analyses
3 Manufacturing Updates and Assembly
- 3.1 Assembly of Device
- 3.2 Calibration Device Update
4 Risk and Problem Tracking
5 Bill of Materials
6 Meetings with Topic Specialists
7 Paper, Poster and Design Competition Information
8 Materials
9 Plans for Gate Review

Team Vision

Here are some of the deliverables that we have been working on the past few weeks:

- Debugged the GUI as well as added missing features

- Successfully compiled the GUI as a standalone executable

- Updated the user manual

- Finalized the poster and sent it in for printing

- Went through paper peer review and made updates to the paper

- Found and fixed a miscommunication between the MSD office and the team regarding the amount of funds available (we now have more money than we thought was left in the budget!)

- Re-Machining parts that were not done correctly the first time and machining last minute low priority parts

- Assembling the device

Software Updates and Analyses

All of the features that were planned for the GUI have been implemented and debugged. The GUI has been successfully compiled as a standalone program capable of being run on any Windows PC.

Shown below is the completed Manual Position mode. The user can specify individual angles to travel to with or without the alternate speed limit. At the bottom of the menu is an offset feature which allows the user to move the motor without having to specify it as an actual angle movement travelled. This allows the user to align the device to a 0 degree position if needed.

Shown below is the completed Script mode. The user can type or upload a variety of movement scripts with different angles, speed limits, and wait times between movements. The wait time between movements is calculated on the fly and is set in order to prevent the user from sending large sweeping commands very rapidly which could cause the device to be damaged.

The table at the right side of both modes is the Output menu. All movements performed either in Script or Manual Position modes are put into this table. The beginning of the motor movement as well as the end time of the motor movement is timed in UNIX time and the difference calculated in milliseconds. Small movements less than 5 degrees have shown to be unreliable in timing. It is best used with movements greater than 5 degrees.

The zipped software package can be downloaded below.

http://edge.rit.edu/edge/P16051/public/Software/Robotic%20Eye%205-4-2016.zip

User Guide

A user guide has been created in order for new users to successfully integrate and use the device as well as all relevant software. The finished user guide can be downloaded in the link below.

http://edge.rit.edu/edge/P16051/public/Software/User%20Guide%205-4-2016.pdf

Performance Analyses

The Arduino script has been complete rewritten in order to eliminate motor encoder count error. As tested, the motor displayed no error when moving to a large variety of positions. As such, there is no analysis to be performed for this.

Analyses were performed for the device output in terms of duration of motor movements. Tests were performed where the motor was set to specific speed limits and moved with increments ranging from 30 degrees to 1 degree. The results are displayed in the tables below.

Manufacturing Updates and Assembly

Our high-priority components have been machined and the device has been assembled!

Assembly of Device

In order to assemble or disassemble the device, the following tools will be needed:

Standard Allen wrench set
Wrenches (3/8" and 7/16")
Ratchet (3/8")
Needlenose pliers (2)

Calibration Device Update

Unfortunately, a wire has come loose in our laser to be used in our calibration unit, leaving it inoperable, at least temporarily. We believe this was caused by extreme bending of the wires while in storage. Our upcoming plan of action consists of the following:

Attempt to re-attach the wire by soldering
If laser is unable to be fixed, we will find a new laser to be purchased
Holes in calibration device will be re-drilled to avoid harsh bending of wire in the future.

The image below shows the device prior to the laser breaking. It is worth noting that this assembly was not totally complete, and the above image will be a more accurate representation of the final product.

Risk and Problem Tracking

Bill of Materials

Download the Bill of Materials

Meetings with Topic Specialists

The group consulted with Rob Kraynik, Jan Maneti, and Craig Piccarreto in the machine shop for machining guidance. This phase, nearly all of the machining was done by Josh, but Rob, Jan, and Craig were all important parts of the machining progress. Some of the specific topics that were discussed include:

Shaving down the binding posts to fit into the yoke and dynamic eye clamp without protruding.
Fully threading a spare screw to use for the idler pulley shaft. This had to be done due to the rarity and high expense of fully threaded screws of the correct thickness and length with a socket cap head.
Re-tapping nuts to fit the size of the screw for the idler pulley.
Polishing the shaft across from the motor, in order to fit it in the bearing.