{"id":111,"date":"2019-01-19T13:57:40","date_gmt":"2019-01-19T13:57:40","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/?page_id=111"},"modified":"2019-11-08T20:31:18","modified_gmt":"2019-11-08T20:31:18","slug":"system-summary","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/system-summary\/","title":{"rendered":"System Summary"},"content":{"rendered":"<div style=\"color:black;font-size:32pt\">Problem Description:<\/div>\n<p>\n<img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/droneconstruct-1024x683.jpeg\" alt=\"\" width=\"500\" height=\"340\" class=\"alignnone size-large wp-image-438\" \/><\/p>\n<div style=\"color: black\">We are building an aerial manipulation platform that is capable of autonomously grasping objects and placing them in specified locations. We aim to use this system to participate in the MBZIRC 2020 competition.<br \/>\nImagine a construction area where blocks of different sizes are located in piles around the region. The goal is for our system to build a structure made by stacking the blocks in a user specified configuration.<\/p>\n<p><span style=\"font-weight:bold\">The major technology that we are developing will include:<\/span><\/p>\n<ul>\n<li>The use of visual servoing to detect and navigate towards target locations.<\/li>\n<li>Developing flight controllers to account for the change in dynamics when the system is close to the objects as well as when the object is grasped.<\/li>\n<li>Developing the manipulator that is able to robustly pick and place the objects as desired.<\/li>\n<\/ul>\n<p><span style=\"font-weight:bold\">The system operates using a process that is broken down as:<\/span><\/p>\n<ul>\n<li>First, the system autonomously detects the blocks and then navigates towards the pile.<\/li>\n<li>Once the system is close enough to the pile, the pose of a chosen block is determined.<\/li>\n<li>The block is then grasped and transported back to the designated area where it is placed in an appropriate position.<\/li>\n<\/ul>\n<p>This process is repeated until the entire structure is built.<br \/>\n<br \/>\n<span style=\"font-size:32pt\">Use Case:<\/span><br \/>\nBob and Dylan are modern day contractors hired to build a house. Having labor<br \/>\ncost, safety, and efficiency in mind, they purchased Team RAMS\u2019s system to au-<br \/>\ntonomously pick up building blocks to construct a wall. They then proceed to carry<br \/>\nRAMS near the construction zone and set up the drone and base station.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-51-1024x367.png\" alt=\"\" width=\"1024\" height=\"367\" class=\"alignnone size-large wp-image-455\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-51-1024x367.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-51-300x108.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-51-768x275.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p>Bob and Dylan then put in their desired size, shape, and position of the wall onto<br \/>\nthe base station. When Bob clicks \u2018GO\u2019, the drone takes off into the sky and starts<br \/>\nlooking around for blocks. The drone locates the pile of blocks and dashes towards it.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-16-1024x366.png\" alt=\"\" width=\"1024\" height=\"366\" class=\"alignnone size-large wp-image-453\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-16-1024x366.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-16-300x107.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-16-768x274.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p>As the drone gets closer to the blocks, it starts to decelerate and hovers. The<br \/>\ndrone then starts moving it\u2019s arm towards the easiest block to pick up and uses the<br \/>\nelectromagnetic end effector to grasp it. With the block grasped, once again it starts<br \/>\nto take off into the sky.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-03-1024x686.png\" alt=\"\" width=\"1024\" height=\"686\" class=\"alignnone size-large wp-image-454\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-03-1024x686.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-03-300x201.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-03-768x515.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-29-03.png 2002w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p>The drone then starts flying towards the specified building location and slowly places<br \/>\nthe block. After successful placement, the drone starts to take off again, looks for<br \/>\nthe next block to pick up, and the process repeats until the wall is complete.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-27-30-1024x365.png\" alt=\"\" width=\"1024\" height=\"365\" class=\"alignnone size-large wp-image-450\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-27-30-1024x365.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-27-30-300x107.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/11\/Screenshot-from-2019-11-08-15-27-30-768x274.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>Problem Description: We are building an aerial manipulation platform that is capable of autonomously grasping objects and placing them in specified locations. We aim to use this system to participate in the MBZIRC 2020 competition. Imagine a construction area where blocks of different sizes are located in piles around the region. The goal is for<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/system-summary\/\">+ Read More<\/a><\/p>\n","protected":false},"author":148,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-111","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/pages\/111","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/users\/148"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/comments?post=111"}],"version-history":[{"count":22,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/pages\/111\/revisions"}],"predecessor-version":[{"id":452,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/pages\/111\/revisions\/452"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/media?parent=111"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}