{"id":68,"date":"2020-01-15T00:06:59","date_gmt":"2020-01-15T05:06:59","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/?page_id=68"},"modified":"2021-09-08T18:27:32","modified_gmt":"2021-09-08T22:27:32","slug":"issues-log","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/project-management\/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\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>2-09-20<\/td><\/td>Shasa<\/td>ARM Architecture Device<\/td>Issues with installing and running packages and pre-built deep learning models on Jetson Xavier<\/td>Load models into a docker image for the Xavier<\/td><\/td>\n<\/tr>\n
2<\/td>2-18-20<\/td>3-28-20<\/td>Bryson and Shaun<\/td>Unable to send PWM commands from Xavier<\/td>Due to issues using NVIDIA's proprietary language to send commands, we have been unable to generate signals from the GPIO pins<\/td>Use the Xavier to communicate with a PWM board over I2C, which will then be used to generate control commands on the car.<\/td>Another electronic device to fit into our enclosure and wire up<\/td>\n<\/tr>\n
3<\/td>2-25-20<\/td>4-30-20<\/td>Wesley<\/td>Faulty USB Port on Jetson Xavier<\/td>Could not use certain devices on USB port, which lead to data transfer issues when splitting off from a USB-C port<\/td>Ship back to NVIDIA for replacement; under warranty<\/td>Have to reinstall and reconfigure device<\/td>\n<\/tr>\n
4<\/td>2-26-20<\/td>3-31-20<\/td>Bryson<\/td>Unstable lateral vehicle controls<\/td>During path tracking simulation, the vehicle was unable to track the path in the lateral direction without going unstable<\/td>Change control method from linearized state-space method to Stanley control method for now.<\/td>Outputs from controller have changed<\/td>\n<\/tr>\n
5<\/td>3-11-20<\/td>3-20-20<\/td>Team<\/td>COVID 19 Pandemic<\/td>Lost guarantteed access to the lab space and working together in-person<\/td>- Zoom meeting calls
\n- Move equipment out of the lab
\n- Alter SVD demonstration plans<\/td>		Basically everything was changed in some way<\/td>\n<\/tr>\n
6<\/td>4-15-20<\/td>4-20-20<\/td>Bryson<\/td>Bug in tracking controller error calculation<\/td>A bug in the calculation of the lateral error was causing the controller to be driven unstable in certain circumstances.<\/td>Changes error calculation code<\/td>Conclusions drawn for performance of controller before this were all incorrect<\/td>\n<\/tr>\n
7<\/td>4-13-20<\/td>4-15-20<\/td>Shaun and Wesley<\/td>Incorrect TVS diode used<\/td>PCB traces blown<\/td>Scrape off traces and solder jumper<\/td>Rewired board to make it functional<\/td>\n<\/tr>\n
8<\/td>4-22-20<\/td>4-25-20<\/td>Evan<\/td>Sub-optimal distance metric<\/td>Lateral oscillation in the planned trajectory in certain scenarios<\/td>Improved distance metric that incentivizes facing down the road.<\/td>Which distance metric the planning system used.<\/td>\n<\/tr>\n
9<\/td>4-20-20<\/td>11-10-20<\/td>Shaun and Evan<\/td>Uncalibrated \/ fully complete sensor integration, potentially<\/td>Onboard system is unable to track a given trajectory<\/td>Fixed issues with the jacobians used for some sensors and removed contributions from IMU that were degrading performance.<\/td>Likely localization and sensing systems.<\/td>\n<\/tr>\n
10<\/td>8-30-20<\/td>10-15-20<\/td>Shaun and Evan<\/td>Encoder magnetometers<\/td>Magnetometers keep erroring at a high frequency and output junk data afterwards.<\/td>Better wiring and build in a recovery mode in the Arduino code to power cycle the magnetometer and reestablish the data connection.<\/td>cable harness to magnetometers redone<\/td>\n<\/tr>\n
11<\/td>9-10-20<\/td>9-20-20<\/td>Bryson<\/td>GUI freezing<\/td>GUI not able to function with multithreading, so certain processes can't be spun up by the GUI<\/td>Take those functions out and generate a separate bash script to run the ROS processes on the robot<\/td>More inconvenience during testing<\/td>\n<\/tr>\n
12<\/td>10-01-20<\/td>10-10-20<\/td>Shaun and Evan<\/td>IMU yaw values inconsistent<\/td>Yaw value reported by the IMU would change with position and not return to where it was previously.<\/td>Turned off the compass contribution to the yaw value.<\/td>IMU<\/td>\n<\/tr>\n
13<\/td>10-01-20<\/td>10-10-20<\/td>Evan and Bryson<\/td>Controller going unstable<\/td>When attempting to track simple slow speed paths, the vehicle consistently goes unstable<\/td>Fixed bug in code where positive feedback look was occurring<\/td>No negative consequences<\/td>\n<\/tr>\n
14<\/td>10-05-2020<\/td>10-15-2020<\/td>Shaun<\/td>FCHarDNet frame rate too slow<\/td>The frame rate for outputting segmented images did not meet our necessary speeds.<\/td>Multithread the image loading and segmentation portions of the code<\/td>Terrain Comprehension<\/td>\n<\/tr>\n
15<\/td>11-05-20<\/td>11-10-20<\/td>Bryson and Evan<\/td>Planner would failing<\/td>One set of motion primitives could either plan a short horizon or a long horizon, not both.<\/td>Have two different sets of motion primitives.<\/td>More work to switch between online and offline planning modes.<\/td>\n<\/tr>\n
16<\/td>11-12-2020<\/td>11-16-2020<\/td>Team<\/td>Crash<\/td>The car crashed at full speed into the guardrail.<\/td>Buy a new GPS antenna.<\/td>The platform<\/td>\n<\/tr>\n
17<\/td>11-23-2020<\/td>11-23-2020<\/td>Team<\/td>GPS Broke<\/td>GPS board would no longer connect to our computer or to the other GPS board.<\/td>Get a new GPS board<\/td>RTK GPS system<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":190,"featured_media":0,"parent":35,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-68","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/pages\/68","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/users\/190"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/comments?post=68"}],"version-history":[{"count":4,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/pages\/68\/revisions"}],"predecessor-version":[{"id":354,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/pages\/68\/revisions\/354"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/pages\/35"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamb\/wp-json\/wp\/v2\/media?parent=68"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}