{"id":298,"date":"2019-02-22T23:05:14","date_gmt":"2019-02-22T23:05:14","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/?p=298"},"modified":"2019-02-22T23:42:09","modified_gmt":"2019-02-22T23:42:09","slug":"issues-log","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/2019\/02\/22\/issues-log\/","title":{"rendered":"Issues Log"},"content":{"rendered":"\n\n\n\n\t\n\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t
Issue Number<\/th>Date Found<\/th>Date Fixed<\/th>Change Made By<\/th>Origin<\/th>Description<\/th>Resolution<\/th>Artifact(s) Changed<\/th>\n<\/tr>\n<\/thead>\n
1.<\/td>Sep 12<\/td>Sep 26<\/td>Boshen<\/td>Large difference between current and desired angle<\/td>\"Short\" error detected on motor controller GUI due to large current<\/td>Added interpolation function before sending motor commands<\/td>Motor controller code<\/td>\n<\/tr>\n
2.<\/td>Mar 12<\/td>mar 28<\/td>All Team members<\/td>Interfacing motor controllers<\/td>It proved to be very difficult to interface the motor controllers using etherCAT<\/td>Switched to Roboteq motor controllers that communicates with ROS<\/td>Motor Controller<\/td>\n<\/tr>\n
3.<\/td>Nov 8<\/td>Nov 9<\/td>All Team members<\/td>Jetson<\/td>issues with GUI, internet, and unreliable results<\/td>switch to off-board (laptop) till pipeline ends<\/td>Jetson<\/td>\n<\/tr>\n
4.<\/td>Sep 12<\/td>Sep 26<\/td>Rupika<\/td>Swing leg prediction algorithm<\/td>exec time > 100 ms<\/td>Changed model to logistic regression<\/td>python code<\/td>\n<\/tr>\n
5.<\/td>Oct 15<\/td>Oct 18<\/td>Aubrey<\/td>Electrical Wiring
\n<\/td>		48V connections to power distribution block were loose causing motor under voltage when they disconnected
\n<\/td>		Tightened Quick Connect connectors that connected the wires to the power distribution block so that they did not come loose with movement of the exoskeleton<\/td>Tightened Electrical Wiring Connections<\/td>\n<\/tr>\n
6. <\/td>Aug 30<\/td>Sep 11<\/td>Aubrey<\/td>Motor Controller<\/td>Discovered Motor controllers cannot handle large amounts of reverse current generated by the motors when the controllers are powered from a power supply<\/td>Added a power dissipation circuit that would dump the excess current to ground when an over voltage was detected by the motor controllers<\/td>Added Electrical Power Dissipation Circuit<\/td>\n<\/tr>\n
7.<\/td>Oct 20<\/td>Oct 24<\/td>Aubrey<\/td>Motor Controller Wiring<\/td>Many of the motor wires were disconnecting from the motor controller<\/td>Added strain relief to the motor wires and several other wires as well. Also tinned the ends of the wires so they fit more securely into the motor controller terminals. <\/td>Improved Electrical Wiring Robustness<\/td>\n<\/tr>\n
8.<\/td>Nov 5<\/td>Nov 15<\/td>Angela, Sachin<\/td>Secureness of exoskeleton when user has it on<\/td>Exoskeleton was \"drooping downward\" from its weight after a period of wear. <\/td>Shoulder straps were ordered and installed on the main frame of the exoskeleton to ensure vertical component of the weight is supported sufficiently when the user is wearing the system.<\/td>Exoskeleton frame<\/td>\n<\/tr>\n
9.<\/td>Nov 15<\/td>Nov 17<\/td>Boshen<\/td>Motor Controller Current Limit
\n
\n<\/td>		High current limit on the motor controllers meant that the user for on person testing could not over power the motors. This was a safety concern.
\n<\/td>		Lowered the current limit of the motors to 5Amps so that the user could over power the motors as a safety precaution for on person testing
\n<\/td>		Motor Controller Setup<\/td>\n<\/tr>\n
10.<\/td>Nov 4<\/td>Nov 5 <\/td>Sachin<\/td>Fixed precompute did not fully handle the situation<\/td>
\nWhen interpolating the normalized winter trajectory inside matlab before porting to C++, it is not possible to quickly change the number of datapoints to interpolate so that testing can be done smoothly.
\n<\/td>		Implemented an interpolation function inside the C++ code instead of the matlab code<\/td>
\nTrajectory planner function
\n<\/td>\n<\/tr>\n
11.<\/td>Nov 9<\/td>Nov 11<\/td>Angela<\/td>Double swing cases<\/td>During double swing, currently both legs become free-spin, however we only want the second swing leg to be in free spin while the leg that went into swing first to hold its landing angle position until touchdown<\/td>Added code to determine and track which leg went into swing first, then wrote the output cases.<\/td>Capture Point Trajectory Methods<\/td>\n<\/tr>\n
12.<\/td>Nov 11<\/td>Nov 11<\/td>Angela, Sachin<\/td> Vector buffer was not being cleared
\n<\/td>		The vector of the winter trajectory was being pushed-back each time the planner was called but was not being cleared once a swing was completed
\n<\/td>		Added a vector clear function in the initial portion of the trajectory planner<\/td>
\nTrajectory planner function
\n<\/td>\n<\/tr>\n
13.<\/td> Nov 20<\/td> Nov 20<\/td>Sachin<\/td>
\nPhase shift
\n<\/td>
\nPhase shifting the trajectory also caused it to scale along the x-axis due to a mismatch in the number of datapoints when phase shifting
\n<\/td>
\nModified the number of datapoints to be a function of the extent to which the trajectory was phase shifted
\n<\/td>
\nTrajectory planner function
\n<\/td>\n<\/tr>\n
14.<\/td> Nov 24<\/td>Nov 24 <\/td>Sachin<\/td>
\nInterpolation size
\n<\/td>
\nThe number of waypoints being used were too large
\n<\/td>
\nTuned the number of waypoints by testing the motor response
\n<\/td>
\nTrajectory planner function
\n<\/td>\n<\/tr>\n
15.<\/td>Nov 25<\/td>Nov 30<\/td>Angela<\/td>Adduction\/Abduction control <\/td>Output trajectory not correct in terms of magnitude and directionality <\/td>New algorithm implemented to fix target magnitude calculations and ensure correct directionality<\/td>Capture Point Control Method for Adduction\/Abduction<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":143,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[],"class_list":["post-298","post","type-post","status-publish","format-standard","hentry","category-project-management-tools"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/posts\/298","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/users\/143"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/comments?post=298"}],"version-history":[{"count":2,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/posts\/298\/revisions"}],"predecessor-version":[{"id":302,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/posts\/298\/revisions\/302"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/media?parent=298"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/categories?post=298"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamb\/wp-json\/wp\/v2\/tags?post=298"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}