{"id":69,"date":"2016-09-14T07:24:24","date_gmt":"2016-09-14T07:24:24","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/?page_id=69"},"modified":"2017-05-13T01:51:06","modified_gmt":"2017-05-13T06:21:06","slug":"schedule","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/project-management\/schedule\/","title":{"rendered":"Schedule"},"content":{"rendered":"<h1>Spring&#8217;17 Work Schedule<\/h1>\n<p>Below are our work breakdown structure and milestones for the project. For the most part, we managed to stay on schedule throughout the two semesters working on this project. Setting weekly goals and assigning responsibilities for the goals played a big factor in this.<\/p>\n<p><span style=\"font-weight: 400\">At the end of the Fall semester, we were\u00a0on schedule according to the plans we laid out at the beginning of the semester. We were able to achieve all of our requirements for the Fall Validation Experiment, and also get some preliminary results for spring development.\u00a0<\/span><span style=\"font-weight: 400\">However, we discovered towards the end of the spring semester that some of the assumptions we had made about our implementation were wrong. We assumed that integration of planning and perception would just be a matter of gluing code together, and that the system would work once that was done. We failed to account for time spent dealing with unforeseen issues in integration and getting the system to perform up to the requirements.<\/span><\/p>\n<h2>Work Breakdown Structure<\/h2>\n<h2><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-429\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/wbs-1.png\" alt=\"wbs\" width=\"1600\" height=\"1154\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/wbs-1.png 1600w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/wbs-1-300x216.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/wbs-1-768x554.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/09\/wbs-1-1024x739.png 1024w\" sizes=\"auto, (max-width: 1600px) 100vw, 1600px\" \/>Spring Semester Schedule ( Completed ):<\/h2>\n<ul>\n<li><strong>Weeks 1&amp;2 (1\/17 ~ 1\/27)<\/strong>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Integrate computer,sensors with power distribution board on new RWD chassis<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fine tune speed control on new platform<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Perform system identification for new platform<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test navigation stack on new platform<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Identify candidate algorithms for control and obstacle tracking<\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Weeks 3&amp;4 (1\/30 ~ 2\/10)<\/strong>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Evaluate candidate algorithms for control and obstacle tracking<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Use IMU to detect if robot is drifting<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Begin implementation of best algorithm for control in simulation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Begin implementation of best algorithm for obstacle tracking on static robot<\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Weeks 5&amp;6 (2\/13 ~ 2\/24)<\/strong>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Continue development and testing of control algorithm in simulation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Continue development and testing of obstacle tracking algorithm <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Begin implementation of alternative algorithm for control in simulation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Begin implementation of alternative algorithm for obstacle tracking on static robot<\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Weeks 7&amp;8 (2\/27 ~ 3\/10)<\/strong>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test control algorithm on robot<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test obstacle tracking algorithm on moving robot<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Continue development and testing of alternative algorithm for control<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Continue development and testing of alternative algorithm for obstacle tracking<\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Weeks 9&amp;10 (3\/13 ~ 3\/24)<\/strong>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Evaluate and compare performance of control algorithms<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Evaluate and compare performance of obstacle tracking algorithms<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Choose final set of algorithms to proceed with<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Begin integration of both subsystems <\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Weeks 11&amp;12 (3\/27 ~ 4\/7)<\/strong>\n<ul>\n<li><span style=\"font-weight: 400\">Build test track<\/span><\/li>\n<li><span style=\"font-weight: 400\">Prepare alternate RC car as dynamic obstacle<\/span><\/li>\n<li><span style=\"font-weight: 400\">Finalize system integration<\/span><\/li>\n<li><span style=\"font-weight: 400\">Test final system performance<\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Weeks 13&amp;14 (4\/10 ~ 4\/21)<\/strong>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fine tune algorithm for driving on test track<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fine tune algorithm for tracking the dynamic obstacle<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Final preparations for SVE<\/span><\/li>\n<\/ul>\n<\/li>\n<li><span style=\"font-weight: 400\"><strong>Weeks 15&amp;16 (4\/24 ~ \u00a05\/5)<\/strong> <\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Final preparations for SVE<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Fall Semester Schedule (Completed):<\/h3>\n<ul>\n<li style=\"font-weight: bold\">Week of Monday 10\/17\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Get Odroid and Jetson TK1 set up with Ubuntu and ROS <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set up ROS sensor interface for LIDAR<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set up ROS sensor interface for IMU<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Design and fabricate mounting hardware for electronics: first iteration<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Finish work breakdown structure, schedule<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Progress Report 1: Thursday 10\/20<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Finish task definitions for WBS<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<ul>\n<li style=\"font-weight: bold\">Week of Monday 10\/24\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Finalize mounting hardware design for first test platform<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Finish CAD models of components (chassis, vesc, RC receiver)<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Calibrate IMU<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set up Teensy for PWM steering and throttle control<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test Hector SLAM<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Start integration of Navigation stack<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Progress Report 2: Thursday 10\/27<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: bold\">Week of Monday 10\/31\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Remote control through ROS<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Integrate localization system, test<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fully integrate Navigation stack<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Implement nonholonomic planner<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Order final components<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Research RC car hardware (round 2)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Select appropriate battery\/power electronics<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Determine components for RC killswitch<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Preliminary Design Review<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: bold\">Week of Monday 11\/7\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Start working on autonomous point-to-point navigation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Design, implement RC killswitch<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Progress Report 3: Thursday 11\/10<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: bold\">Week of Monday 11\/14\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fine-tune teb_local_planner<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Gazebo simulation for car and world (done)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fine-tune amcl (done)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Robust hardware: add foam padding, reinforce weak points (done)<\/span><\/li>\n<\/ul>\n<\/li>\n<li><strong>Week of Monday 11\/21 (Thanksgiving week)<\/strong>\n<ul>\n<li>Validate autonomous point-to-point navigation<\/li>\n<li>System identification of robot dynamics<\/li>\n<li>Progress Report 4: Tuesday 11\/22<\/li>\n<\/ul>\n<\/li>\n<li><strong>Week of Monday 11\/28<\/strong>\n<ul>\n<li>Final integration of robot subsystems<\/li>\n<li>Testing and validation of system-level requirements<\/li>\n<li>Fall Validation Experiment: Thursday 12\/1<\/li>\n<\/ul>\n<\/li>\n<li><strong>Week of Monday 12\/5<\/strong>\n<ul>\n<li>FVE encore: Thursday 12\/8<\/li>\n<\/ul>\n<\/li>\n<li><strong>Week of Monday 12\/12 (Finals week)<\/strong>\n<ul>\n<li>Critical design review presentation<\/li>\n<li>Preparation\/planning for spring semester<\/li>\n<li>Critical Design Review report: Thursday 12\/15<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Spring&#8217;17 Work Schedule Below are our work breakdown structure and milestones for the project. For the most part, we managed to stay on schedule throughout the two semesters working on this project. Setting weekly goals and assigning responsibilities for the goals played a big factor in this. At the end of the Fall semester, we&hellip;&nbsp;<\/p>\n","protected":false},"author":55,"featured_media":0,"parent":28,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"class_list":["post-69","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/69","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/users\/55"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/comments?post=69"}],"version-history":[{"count":20,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/69\/revisions"}],"predecessor-version":[{"id":562,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/69\/revisions\/562"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/28"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/media?parent=69"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}