{"id":27,"date":"2015-09-16T18:44:09","date_gmt":"2015-09-16T22:44:09","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teame\/?page_id=27"},"modified":"2016-05-06T08:22:21","modified_gmt":"2016-05-06T12:22:21","slug":"project-management","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teame\/project-management\/","title":{"rendered":"Project Management"},"content":{"rendered":"

Lab Demonstrations<\/strong><\/h1>\n

10\/15\/2015 \u2013 Demonstration 1\u00a0presented by\u00a0Bishwamoy Sinha Roy<\/p>\n

10\/22\/2015 \u2013 Demonstration 2 presented by\u00a0Paul Calhoun<\/p>\n

10\/29\/2015 \u2013 Demonstration 3\u00a0presented by\u00a0Aishanou Osha Rait<\/p>\n

11\/12\/2015 \u2013 Demonstration 4\u00a0presented by\u00a0Rushat Gupta Chadha<\/p>\n

11\/24\/2015 \u2013 Demonstration 5\u00a0presented by\u00a0Keerthana Subramanian Manivannan<\/p>\n

1\/28\/2016 \u2013 Demonstration 6 (Spring Plans and early Unit Tests) presented by\u00a0Paul Calhoun<\/p>\n

2\/11\/2016 \u2013 Demonstration 7 (Centering Quadcopter in XY below platform) presented by Bishwamoy Sinha Roy<\/p>\n

2\/24\/2016 \u2013 Demonstration 8 (Centering Quadcopter in XY below platform) presented by Keerthana Subramanian Manivannan<\/p>\n

3\/16\/2016 \u2013 Demonstration 9 (Centering Quadcopter in XY below platform) presented by Aishanou Osha Rait<\/p>\n

3\/30\/2016 \u2013 Demonstration 10 (Centering Quadcopter in XY below platform) presented by Rushat Gupta Chadha<\/p>\n

4\/18\/2016 \u2013 Demonstration 11 (Centering Quadcopter in XY below platform) presented by Paul Calhoun<\/p>\n

Schedule
\n<\/strong><\/h1>\n

Our Fall schedule was based on getting certain subsystems ready for the Fall Validation Experiment. \u00a0While this had the benefit of being goal-oriented, it built our schedule backwards rather than forwards, trying to fit subsystems that may have taken a longer time than we were giving them into a schedule intended to get a result at a specific time.<\/p>\n

\"Gantt<\/a>Table 1 – Fall Schedule<\/p>\n

\"Gantt<\/a>Figure 1 – Gantt Chart of our Fall Schedule<\/p>\n

<\/h1>\n

Our schedule is integrated with our progress review (PR) goals, each subsystem we intend to implement or unit we intend to test being a demonstration at the PR.<\/p>\n

With our dock functional, our schedule is almost all quadcopter related subsystems being implemented and integrated.\u00a0 Taking into consideration our scope being decreased from the dock having three different waveforms being summed into its harmonic motion to one, and us no longer having graceful undocking as a requirement, we are still one unit test behind schedule.\u00a0 This item, A-to-B navigation has been moved to being our first subsystem to be completed for our first PR.\u00a0 After that, dock motion estimation is our next big hurdle as it may be simple but may also turn out to need different sensors or a new approach.\u00a0 Finally we will begin on navigation and docking starting with a stationary platform and then a moving one, concurrent with development of our user interface.\u00a0 We are including two PRs \u2013 approximately a month and a half \u2013 for integration, logistics delays, unexpected failure modes, and other slips.\u00a0\u00a0 While this may at first appear as if it leaves us nothing to demonstrate between PR 10 and SVE, we will be restoring de-scoped requirements to the project if there are no significant delays.<\/p>\n\n\n\n\n\n\n\n\n\n
Timeline<\/strong><\/td>\nProgress Review<\/strong><\/td>\nPlanned Milestone<\/strong><\/td>\nActual Milestone<\/strong><\/td>\nPresenter<\/strong><\/td>\n<\/tr>\n
Late January<\/td>\nPR 7<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Quadcopter motion from Point A to B, Preliminary<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Palantir Functionality \u2013 Fitting and Communication<\/td>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Quadcopter motion from Point A to B, Preliminary<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Palantir Functionality \u2013 Fitting and Communication<\/td>\n

Paul Calhoun<\/td>\n<\/tr>\n
Mid-February<\/td>\nPR 8<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0 Determine position and velocity of platform using CV and sensors<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Quadcopter maintains hover point in XY Plane<\/td>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0 Determine position and velocity of platform using CV and sensors<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Quadcopter maintains hover point in XY Plane<\/td>\n

Bishwamoy Sinha Roy<\/td>\n<\/tr>\n
Late February<\/td>\nPR 9<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Stabilization of Quadcopter under the Platform<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Docking to the platform with the Nicadrone<\/td>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Stabilization of Quadcopter under the Platform<\/p>\n

 <\/td>\n

Keerthana Subramanian Manivannan<\/td>\n<\/tr>\n
Mid-March<\/td>\nPR 10<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Achieve docking on moving platform<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0Quadcopter hovers at a fixed point below platform<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0Palantir outputs correct curve fit to Dock Data<\/td>\n

Aishanou Osha Rait<\/td>\n<\/tr>\n
Early April<\/td>\nPR 11<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Testing and refinement<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 All dock motions produce correct outputs \u2013 Docks or refuses to dock<\/td>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0Quadcopter docks to stationary platform<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0Dock detects successful docking action<\/td>\n

Rushat Gupta Chadha<\/td>\n<\/tr>\n
Mid-April<\/td>\nPR 12<\/td>\n\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Testing and refinement<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Quadcopter lands within time limits and with 80% success rate<\/td>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Achieve docking on moving platform<\/p>\n

\u2022\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 All dock motions produce correct outputs \u2013 Docks or refuses to dock<\/td>\n

Paul Calhoun<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

 <\/p>\n

Table 2 – Spring Schedule<\/p>\n

\"Timeline\"<\/a><\/p>\n

Figure 2 – Spring Time Line<\/p>\n

To support this, we have 24 unit tests which are detailed in our test plan.\u00a0 Each one corresponds to a line on our schedule below.<\/p>\n

\"Spring<\/a><\/p>\n

Figure 3\u00a0– Spring Schedule<\/p>\n

We’re currently doing well in keeping up with our planned milestones. \u00a0The locking mechanism was delayed, which cascaded down our critical path, but we are still on track to meet all our SVE goals.<\/p>\n

\"Spring<\/a><\/p>\n

Figure 4 – Spring Schedule Tracking (Green = Met On Time, Orange = Met Late, Red = Unmet and Late, Purple = No longer being developed)<\/p>\n

Test Plan – Spring<\/h1>\n

Our full test plan including equipment, configurations, and unit tests can be found at our TeamE Spring TestPlan<\/a><\/p>\n

Spring Validation Experiment<\/h2>\n

Location<\/strong>: Newell-Simon Hall, Level B<\/p>\n

Equipment to be used<\/strong>: DJI Matrice100, Guidance, Designed Platform, Power Supply, Laptop<\/p>\n

Capabilities Proved<\/strong>: System determines correct moment to dock, quadcopter docks with platform without collision<\/p>\n

Test starting setup<\/strong>: Quadcopter will be on the ground within a 0.25 meter distance from the platform.<\/p>\n

\u00a0<\/strong><\/p>\n

Full System Test\/Check<\/strong><\/p>\n

Action<\/strong>: Place the quadcopter on the ground within .25 m from the platform, start engines, begin autonomous hover<\/p>\n

Action:<\/strong> Turn on the power to platform and enter a frequency for platform motion on the Palantir within range of 0.15 to 0.3 Hz)<\/p>\n

Result: <\/strong>The frequency of platform motion changes to the input frequency<\/p>\n

Result: <\/strong>Motion is detected by sensors and graph is plotted on the Palantir showing that the motion is the desired frequency waveform (i.e. frequency detected is the frequency entered by the user), the lowest point is found by the Palantir<\/p>\n

Result\/Autonomous Action<\/strong>: The quadcopter will hover a fixed distance below the lowest point platform (within 5 cm accuracy in X-Y plane)<\/p>\n

Result<\/strong>: The Palantir will give the quadcopter the time, velocity, and location it must reach to dock. At the appropriate time, the quadcopter will perform the maneuver required, using pressure to ensure a secure connection of the Velcro.<\/p>\n

Result:<\/strong> The dock\u2019s IR sensors will transmit a flag to the Palantir telling it that docking is successful and the quadcopter will begin to power down propulsion.<\/p>\n

Metric<\/strong>: The velocity of quadcopter with respect to the platform will be less than 50 cm\/s when quadcopter is moving up towards the platform<\/p>\n

Metric<\/strong>: Quadcopter will remain securely attached to the dock with its propulsion turned off for at least 30 seconds.<\/p>\n

Metric<\/strong>: Repeat above steps 5 times with different starting positions and different frequencies of platform. Docking should be successful 80% of the times.<\/p>\n

\"ILRGIF\"<\/a><\/p>\n

Figure 5 – Spring Test Plan Flow<\/p>\n

 <\/p>\n

Test Plan – Fall
\n<\/strong><\/h1>\n

 <\/p>\n

Fall Validation Experiment<\/h2>\n

 <\/p>\n

Test Facility<\/h3>\n

Location: <\/strong>NSH Level B, Carnegie Mellon University<\/h3>\n

Equipment:<\/strong> Quadcopter, Monocular camera, Designed Platform, Laptop, 30V DC power supply<\/p>\n

Size of Test Area:<\/strong> 5m x 8m x 4m<\/p>\n

Setup:<\/strong><\/h3>\n

PLATFORM:<\/strong> The supply to the platform will be turned on. The laptop with serial monitor will be connected to the Arduino board.<\/p>\n

QUADCOPTER:<\/strong> The quadcopter will be placed at any arbitrary position within the test area. Smartphone is connected with DJI Go App to the remote controller. The quadcopter and remote controller are powered on. P2P connection will be established between the quadcopter\u2019s SBC and the laptop via WiFi. SSH into the onboard SBC\u2019s shell<\/p>\n

Process:<\/strong><\/h3>\n

PLATFORM:<\/strong><\/p>\n

    \n
  1. Input the frequency of platform motion from the laptop between 0.15 to 0.3 Hz<\/li>\n
  2. Platform motion will be detected by the sensors and graphs will be plotted on the laptop showing harmonic motion<\/li>\n<\/ol>\n

    QUADCOPTER: <\/strong><\/p>\n

      \n
    1. Roslaunch the master.launch file in the dji_code ros package<\/li>\n
    2. The quadcopter will prompt the user via the laptop whether to commence or not – type y for the quadcopter to lift-off and hover<\/li>\n
    3. Once hover has been achieved, it will prompt you to either TRACK<\/em> AprilTag or MOVE<\/em>.<\/li>\n
    4. Choose MOVE<\/em> and it will prompt you for a X,Y position.<\/li>\n
    5. Enter a X,Y position within 5m <\/strong>of starting position<\/li>\n
    6. The quadcopter will move and land to the allocated position within +\/- 3m error<\/li>\n
    7. Place the quadcopter above the AprilTag, lift off again and choose TRACK<\/em> AprilTag<\/li>\n
    8. If the AprilTag moves within 0.4m of the previous position the quadcopter should move with it<\/li>\n
    9. During any of the above tests, inputs from the remote control will override all other commands<\/li>\n
    10. Repeat steps 4 to 9 five times to test repeatability<\/li>\n<\/ol>\n

      Success criteria:<\/strong><\/h3>\n

      PLATFORM:<\/strong> The user input frequency (0.15 to 0.3 Hz) would match the frequency detected by the sensors within an accuracy of 0.05 Hz<\/p>\n

      QUADCOPTER:<\/strong><\/p>\n

      Figure 1: Environment Layout<\/em><\/p>\n

       <\/p>\n