Project Management

Schedule

Presenters for the Progress Reviews for Spring 2020:

Progress Review 7, September 16, 2020: Arti Anantharaman
Progress Review 8, September 30, 2020: Anjali Pemmaraju
Progress Review 9, October 14, 2020: Chang Shi
Progress Review 10, October 28, 2020: Alex Wu
Progress Review 11, November 11, 2020: Cora Zhang

 

Fall 2020 Gantt Chart

Updated Work Breakdown Structure

Presenters for the Progress Reviews for Spring 2020:

Sensors and Motors Lab, February 12, 2020: Alex Wu
Progress Review 1, February 19, 2020: Arti Anantharaman
Progress Review 2, March 4, 2020: Anjali Pemmaraju
Progress Review 3, March 25, 2020: Cora Zhang
Progress Review 4, April 8, 2020: Chang Shi

Spring 2020 Schedule

Test Plan

 

Spring Test Plan

Fall Test Plan

Updated Risk Management Strategy

Risk IDRisk DescriptionType MitigationLikelihoodConsequenceReq.
R1Integration issues between subsystemsTechnical/ ScheduleIntegrate subsystems continually and test each subsystem before integrating55All
R2Inability to access robot and sensors in the lab due to COVID-19Technical/ ScheduleContinue the development of the system in a customized simulation environment55All
R3Low robustness of trackingTechnicalDevelop a simple prediction model based on past dat32M.P.6
R4Complexity in turning 3D point cloud to searchable surfaceTechnicalMake a head start on this task or opt for a simple \& efficient geometric model35M.P.7
R5Fail to palpate liver due to challenges in using force sensorTechnicalDo palpation in simulation based on CAD model of liver and simulated force readings44M.P.7, M.P.8
R6Fail to implement motion compensation in scanning codeTechnicalRevert to static organ assumption45M.P.5
R7Fail to implement motion compensation in palpation codeTechnicalRevert to static organ assumption45M.P.7, M.P.8
R8PSM2 of dVRK cannot be fixed in the FallTechnical/ ScheduleUse PSM1 for both scanning and palpation; detach Blaser from PSM1 after scanning liver and mount force sensor on the same arm to palpate liver42M.P.9
R9Difficulty in registering RealSense & robot coordinate framesTechnicalContinue to use the Lab's stereo camera but modify liver motion tracking pipeline34M.P.4, M.P.6
R10Malfunctioning of Blaser sensorTechnicalIf attempts to fix the Blaser fail, buy a miniature off-the-shelf laser scanner25M.P.3, M.P.5
R11MSP breaks / servo motors that actuate MSP are damagedTechnicalHandle MSP with care & buy servo motor spares for emergencies23M.P.6
R12Search and Palpation development postponed due to Sensor Simulation DevelopmentScheduleDevelop the simulation during summer break23M.P.7, M.P.8

Parts List

Parts List

Issues Log

Issues Log