{"id":370,"date":"2016-12-15T20:56:35","date_gmt":"2016-12-15T20:56:35","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/?page_id=370"},"modified":"2017-05-11T16:32:59","modified_gmt":"2017-05-11T16:32:59","slug":"system-design-depiction","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/system-design-depiction\/","title":{"rendered":"System Design Depiction"},"content":{"rendered":"<h1>System Hardware<\/h1>\n<p><span style=\"font-weight: 400\">The robotic arm being used for the system is a UR10. The arm uses a raised 1-DOF slider in order to reach all bins. The suction gripper is installed and operational, utilizing a construction-job style shop vac for its flow generation. The suction gripper offers an extra degree of freedom with 90 degree rotational functionality. The shelf, which will eventually be constructed of aluminum and steel, is currently fabricated from wood and operational for this project\u2019s purposes. The system is using a master-slave server setup, with 2 CPU\u2019s and 4 GPU\u2019s total. The entire system setup can be seen in the following image.\u00a0<\/span><\/p>\n<h1><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-587\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/Screen-Shot-2017-05-11-at-12.09.40-PM.png\" alt=\"\" width=\"1532\" height=\"1114\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/Screen-Shot-2017-05-11-at-12.09.40-PM.png 1532w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/Screen-Shot-2017-05-11-at-12.09.40-PM-300x218.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/Screen-Shot-2017-05-11-at-12.09.40-PM-768x558.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/Screen-Shot-2017-05-11-at-12.09.40-PM-1024x745.png 1024w\" sizes=\"auto, (max-width: 1532px) 100vw, 1532px\" \/><\/h1>\n<h1>First Iteration of Design<\/h1>\n<p>This is a\u00a0composite image which shows that multiple subsystems are working correctly in tandem to perform a successful pick. On the right the image, the collision model for the planning subsystem is shown. In the lower left corner, pressure feedback from the grasping subsystem is being printed to the terminal. To execute a pick, the grasping system uses data from the perception system to send movement requests to the motion planning system. Higher level decisions are made by the robot\u2019s state machine. While the subsystems are implemented in a simple way, their integration is complete.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-375\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/system1.png\" alt=\"system1\" width=\"926\" height=\"522\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/system1.png 1138w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/system1-300x169.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/system1-768x433.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-content\/uploads\/sites\/16\/2016\/12\/system1-1024x578.png 1024w\" sizes=\"auto, (max-width: 926px) 100vw, 926px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>System Hardware The robotic arm being used for the system is a UR10. The arm uses a raised 1-DOF slider in order to reach all bins. The suction gripper is installed and operational, utilizing a construction-job style shop vac for its flow generation. The suction gripper offers an extra degree of freedom with 90 degree <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/system-design-depiction\/\" rel=\"nofollow\"><span class=\"sr-only\">Read more about System Design Depiction<\/span>[&hellip;]<\/a><\/p>\n","protected":false},"author":59,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-370","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/pages\/370","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/users\/59"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/comments?post=370"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/pages\/370\/revisions"}],"predecessor-version":[{"id":588,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/pages\/370\/revisions\/588"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teame\/wp-json\/wp\/v2\/media?parent=370"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}