Integrated System Build & Test
Table of Contents
Team Vision for Integrated System Build & Test PhaseGoals:
The team's plan for this phase was broken down into two smaller sections based on an interim review session set up with our Guide, Russell Phelps. In the first section our goal was to achieve subsystem functionality and make sure their performance was within specifications. The second half of this phase was to be focused on assembling subsystem interactions and integrating their performance towards full functionality.
This phase of our project has seen enormous progress from the Subsystem Build and Test Phase. The RC vehicle has been assembled and is easily controlled from a wireless X-box controller. The spool has been mounted to the RC vehicle and is also easily controlled via the same controller. The software and hardware required to drive the vehicle is also able to control the valves that reside inside the spool and control the pattern of chamber inflation. During this phase we have also achieved consistent articulation chamber fabrication and executed testing on multiple chambers.
- LiPo batteries work. Have been fully charged and no issues to report
- Bought back-up batteries. Waiting for arrival of batteries for testing
- Researching method to detect battery level and integrate into circuit
- Max LiPo current usage at any time is 1.9A
- Estimated LiPo battery life is 3.5 hours (assuming non-ideal battery life)
- Arduino battery max current draw is 0.8A
- Estimated Arduino battery life is 8 hours (assuming non-ideal battery life)
- This exceeds our engineering requirements for lasting during one robot expedition
Stepper Motor Testing
- Initially ran into an over current issue with the stepper when connected to motor driver
- Issue was fixed after talking to a fellow student and acquiring a stepper driver, which now allows us to operate the stepper and rotate the spool as seen in the GIF below
- We can drive the RC with the LiPo batteries and there has been no fast degrade in performance compared to the 9V battery as expected
- No issues have arisen with the control of the RC while integrating the system
- Constructed a 12 optoisolator circuit to be
tested on controlling the valves. Half of the board
has been tested and can properly actuate half of the
- This board provides half of the 24 optoisolators needed for full control of the valves
- Constructed a 12 optoisolator circuit to be tested on controlling the valves. Half of the board has been tested and can properly actuate half of the valves.
- A revised version of the compressor control circuit was created to draw more current on the output. Shown below:
Valves and Compressors
- This is the focus area going forward
- The 12 optoisolator and compressor circuits will be used to test and potentially debug any programming issues and test and potentially troubleshoot any issues with the circuits
Complete Driving Test Results
Spool Operation Test Results
Testing Spool Operation: Spool can be turned successfully, however further testing revealed that the stepper motor lacks the torque to overcome large angular moments within the spool.
Chamber Inflation Test Results
Testing Upper Limits of Chamber Inflation Pressures: Chamber appeared to deform in similar trials around 7-8 psi. This particular chamber had already been subjected to 7-8 psi before this trial was recorded.
Casting of Silicone Leg ChambersDuring this phase the team completed the transition to using cast silicone leg chambers rather than 3D printed ones. This decision was based on preliminary casting trials that provided airtight, flexible chambers even when manufactured in sub-optimal conditions. Since then we have made several casts and are in the process of manufacturing all twelve complete chambers and four feet, as well as some items for destructive testing.
Casting has been successful thus far. Leg components will continue to be produced to ensure surplus for replacement parts and destructive testing.
Risk and Problem Tracking
- Our Problem Tracking has been updated.
- Our Risk Assessment has been updated.
The Risk Assessment Chart has been updated by removing a risk about NinjaFlex. Instead a risk about our silicon legs has been added. The risk of breach or deformation of leg chambers is now higher due to observations during testing. A risk has also been added describing what would happen if there is an imbalance of forces between the robot and the tether.
ImagineRIT PosterSpecial thanks to Taylor Rakocy for continuing to help us with poster design. Link to download the poster PDF is here.
Technical PaperThe technical paper associated with our project is roughly 25% complete and is on track to be completed by April 16th. The document is available for viewing.
Plans for next phaseThere are still things that need to be executed for this phase to really be completed. We must still test a complete leg with three articulation chambers attached to a footpad, as well as test their function when supporting the robot's chassis. We must also complete and test the tether and deployment mechanism, which is on hold until our remaining components are received. We anticipate that this will be complete by April 6th. The remaining time our team has between complete assembly and the Customer Hand-off will be spent fine tuning the ComQuaT system and optimizing its performance as well as completing final documentation (Imagine RIT poster and technical paper submission to MSD and IEEE).
|Project Manager||Conor McKaig|
|Lead Engineer||Zach DiLego|
|Electrical Engineer||Cameron Taylor|
|Software Engineer||Sean Bayley|
|Hardware Engineer||Zach Hayes|
|Purchasing & Materials||Marie McCartan|
|Comm. & Customer Contact||Jamie Mortensen|