{"id":152,"date":"2021-11-15T18:45:14","date_gmt":"2021-11-15T18:45:14","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/?p=152"},"modified":"2022-02-25T08:02:13","modified_gmt":"2022-02-25T08:02:13","slug":"issues-log","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/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
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
I01<\/td>December 20th, 2021<\/td>February 9th, 2022<\/td>kbalsun<\/td>Perception & Sensing<\/td>Need for ITK not fully justified, given uncertainties in ROS integration and lack of prior experience within the team in using ITK.<\/td>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.<\/td>Perception Software<\/td>\n<\/tr>\n
I02<\/td>January 26th, 2022<\/td>January 26th, 2022<\/td>pjhill<\/td>Perception & Sensing, Hardware<\/td>Marker 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.<\/td>Move marker array on robot from base link to end-effector link.<\/td>Marker Hardware Setup<\/td>\n<\/tr>\n
I03<\/td>February 7th, 2022<\/td>February 23rd, 2022<\/td>sseivur<\/td>Hardware<\/td>The arm provided by our sponsor did not have API support and did not have ROS support.<\/td>Asked sponsor for new arm and we received a Kinova Gen 3 (7 DOF) which has great support and API.<\/td>Hardware Setup, ROS Setup<\/td>\n<\/tr>\n
I04<\/td>March 23rd, 2022<\/td>April 4th, 2022<\/td>pjhill<\/td>Hardware<\/td>The 1st End-Effector Design was too long and caused a lot of vibration in the arm. It also was not rigid.<\/td>Iterated on design, removing need for long reamer handle, decreasing overall size of end-effector.<\/td>Hardware Setup<\/td>\n<\/tr>\n
I05<\/td>April 4th, 2022<\/td>April 20th, 2022<\/td>akyu<\/td>Controls & Actuation<\/td>The Optimal Control Problem solver does not converge fast enough for a robust controller in real-time.<\/td>For the Spring, swapped to using a PID Wrench Controller. For the Fall, plan to swap to writing the MPC in C++.<\/td>Controls Software Setup<\/td>\n<\/tr>\n
I06<\/td>April 20th, 2022<\/td>August 29th, 2022<\/td>akyu<\/td>Planning<\/td>Planning Subsystem too slow for dynamic compensation<\/td>Removed planning subsystem for a tracking controller and improved end-effector.<\/td>Planning, Controls Software, End-Effector Hardware<\/td>\n<\/tr>\n
I07<\/td>September 2nd, 2022<\/td>September 15th, 2022<\/td>pjhill<\/td>Perception and Hardware<\/td>No CAD model was available for the end-effector marker geometry, so online calibration is not possible.<\/td>Unique marker geometry was created on new end-effector design.<\/td>End-effector Hardware, Controls, Perception<\/td>\n<\/tr>\n
I08<\/td>September 2nd, 2022<\/td>NA<\/td>NA<\/td>Controls<\/td>ROS Kortex API for Kinova Gen 3 is capped at a 40 Hz rate. Performance of controller is bottlenecked.<\/td>40 Hz seemed sufficient for the project, so no change was made.<\/td>Controls<\/td>\n<\/tr>\n
I09<\/td>November 10th, 2022<\/td>November 10th, 2022<\/td>pjhill<\/td>End-effector Hardware<\/td>Encoder shorting electrical subsystem, which delayed development.<\/td>We swapped out the motor for a backup motor.<\/td>End-effector Hardware, Controls<\/td>\n<\/tr>\n
I10<\/td>November 6th, 2022<\/td>November 6th, 2022<\/td>akyu<\/td>End-effector Hardware<\/td>Wires pulling out of motors<\/td>We added wire strain-relief to our end-effector design.<\/td>End-effector Hardware<\/td>\n<\/tr>\n
I11<\/td>November 10th, 2022<\/td>November 10th, 2022<\/td>akyu<\/td>End-effector Hardware<\/td>Linear Actuator Motor too strong making it hard to calibrate current-to-force and to have high-force resolution.<\/td>We swapped to using a motor with 1\/4 of the power.<\/td>End-effector Hardware<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n\n

Legend<\/h2>\n\n\n\n

Issue Number \u2013 unique identifier for each entry
Date Found \u2013 the date the issue was found
Date Fixed \u2013 the date the issue was fixed
Change Made By \u2013 andrewID of the person or persons responsible for the change
Origin \u2013 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 \u2013 brief description of the issue
Resolution \u2013 brief description of the changes made to resolve the issue. If not resolved, put a note like “Pending” here.
Artifact(s) Changed \u2013 a specific list of the artifacts that were modified to resolve the issue<\/p>\n","protected":false},"excerpt":{"rendered":"

Legend Issue Number \u2013 unique identifier for each entryDate Found \u2013 the date the issue was foundDate Fixed \u2013 the date the issue was fixedChange Made By \u2013 andrewID of the person or persons responsible for the changeOrigin \u2013 the earliest artifact where the issue was present. For example, if a bug in the code
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