Issues Log

Issue NumberDate FoundDate FixedChange Made ByOriginDescriptionResolutionArtifact(s) Changed
I01December 20th, 2021February 9th, 2022kbalsunPerception & SensingNeed for ITK not fully justified, given uncertainties in ROS integration and lack of prior experience within the team in using ITK.Use Open3D instead of ITK/IGSTK. We adopted Open3D based on the advice of Prof. Galeotti. Open3D is more well-documented and has readily available APIs for point-set registration that we can leverage. It also has support for integration with ROS. Team members have prior experience using Open3D and will reduce the development time.Perception Software
I02January 26th, 2022January 26th, 2022pjhillPerception & Sensing, HardwareMarker array was hard to attach to base link and when used in tandem with encoder positions to find end-effector position, leads to tolerance stackup and inaccuracy.Move marker array on robot from base link to end-effector link.Marker Hardware Setup
I03February 7th, 2022February 23rd, 2022sseivurHardwareThe arm provided by our sponsor did not have API support and did not have ROS support.Asked sponsor for new arm and we received a Kinova Gen 3 (7 DOF) which has great support and API.Hardware Setup, ROS Setup
I04March 23rd, 2022April 4th, 2022pjhillHardwareThe 1st End-Effector Design was too long and caused a lot of vibration in the arm. It also was not rigid.Iterated on design, removing need for long reamer handle, decreasing overall size of end-effector.Hardware Setup
I05April 4th, 2022April 20th, 2022akyuControls & ActuationThe Optimal Control Problem solver does not converge fast enough for a robust controller in real-time.For the Spring, swapped to using a PID Wrench Controller. For the Fall, plan to swap to writing the MPC in C++.Controls Software Setup
I06April 20th, 2022August 29th, 2022akyuPlanningPlanning Subsystem too slow for dynamic compensationRemoved planning subsystem for a tracking controller and improved end-effector.Planning, Controls Software, End-Effector Hardware
I07September 2nd, 2022September 15th, 2022pjhillPerception and HardwareNo CAD model was available for the end-effector marker geometry, so online calibration is not possible.Unique marker geometry was created on new end-effector design.End-effector Hardware, Controls, Perception
I08September 2nd, 2022NANAControlsROS Kortex API for Kinova Gen 3 is capped at a 40 Hz rate. Performance of controller is bottlenecked.40 Hz seemed sufficient for the project, so no change was made.Controls
I09November 10th, 2022November 10th, 2022pjhillEnd-effector HardwareEncoder shorting electrical subsystem, which delayed development.We swapped out the motor for a backup motor.End-effector Hardware, Controls
I10November 6th, 2022November 6th, 2022akyuEnd-effector HardwareWires pulling out of motorsWe added wire strain-relief to our end-effector design.End-effector Hardware
I11November 10th, 2022November 10th, 2022akyuEnd-effector HardwareLinear Actuator Motor too strong making it hard to calibrate current-to-force and to have high-force resolution.We swapped to using a motor with 1/4 of the power.End-effector Hardware

Legend

Issue Number – unique identifier for each entry
Date Found – the date the issue was found
Date Fixed – the date the issue was fixed
Change Made By – andrewID of the person or persons responsible for the change
Origin – the earliest artifact where the issue was present. For example, if a bug in the code is ultimately the result of an incorrect sequence diagram, then the origin would be that particular sequence diagram
Description – brief description of the issue
Resolution – brief description of the changes made to resolve the issue. If not resolved, put a note like “Pending” here.
Artifact(s) Changed – a specific list of the artifacts that were modified to resolve the issue

Project Management
Project Management