{"id":247,"date":"2023-04-08T02:56:28","date_gmt":"2023-04-08T02:56:28","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/?page_id=247"},"modified":"2023-12-16T00:27:06","modified_gmt":"2023-12-16T00:27:06","slug":"system-implementation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation\/","title":{"rendered":"System Implementation"},"content":{"rendered":"\n<p class=\"has-large-font-size\">The following are the details of each subsystem<\/p>\n\n\n\n<p class=\"has-medium-font-size\" id=\"mechanicalsubsystem\"><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation#mechanicalsubsystem\">Mechanical Subsystem<\/a><\/strong><\/p>\n\n\n\n<p>The robot built by the team is designed in a way such that it allows the robot to traverse inside a 12-inch pipe without any hindrances. The following figure shows the build of the robot hardware platform.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"576\" height=\"1024\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-576x1024.jpg\" alt=\"\" class=\"wp-image-271\" style=\"width:455px;height:808px\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-576x1024.jpg 576w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-169x300.jpg 169w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-768x1365.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-864x1536.jpg 864w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-1152x2048.jpg 1152w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-700x1244.jpg 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-520x924.jpg 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-360x640.jpg 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-250x444.jpg 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-100x178.jpg 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/IMG_1694-scaled.jpg 1440w\" sizes=\"auto, (max-width: 576px) 100vw, 576px\" \/><figcaption class=\"wp-element-caption\">Final build of the robot hardware platform traversing inside the pipe<\/figcaption><\/figure>\n\n\n\n<p>The following videos demonstrate the capability of the robot to traverse inside a 12-inch pipe.<\/p>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1TzpuasSHwHX8NImt4TtiXpdpykkfVPDV\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1zi43TVrDp8AqdaLtwPFU9oAr55WAQS_7\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1udGytQxJDsWJNkO88dH1cxbTiOx5bLOS\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<p><\/p>\n\n\n\n<p>Sensor mounts were also designed and 3D-printed which were used to hold the Intel RealSense L515 camera. The following figures show the final designs of the sensor mount.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"627\" height=\"600\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount.png\" alt=\"\" class=\"wp-image-292\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount.png 627w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount-300x287.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount-520x498.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount-360x344.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount-250x239.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/05\/New-mount-100x96.png 100w\" sizes=\"auto, (max-width: 627px) 100vw, 627px\" \/><figcaption class=\"wp-element-caption\">CAD Model of the updated sensor mount<\/figcaption><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"780\" height=\"1024\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-780x1024.jpg\" alt=\"\" class=\"wp-image-251\" style=\"width:345px;height:453px\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-780x1024.jpg 780w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-229x300.jpg 229w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-768x1008.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-1171x1536.jpg 1171w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-1561x2048.jpg 1561w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-700x919.jpg 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-520x682.jpg 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-360x472.jpg 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-250x328.jpg 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-100x131.jpg 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-content\/uploads\/sites\/71\/2023\/04\/IMG_1532-scaled.jpg 1951w\" sizes=\"auto, (max-width: 780px) 100vw, 780px\" \/><figcaption class=\"wp-element-caption\">Intel RealSense L515 attached to the sensor mount and integrated with the robot<\/figcaption><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-medium-font-size\" id=\"simulationsubsystem\"><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation#simulationsubsystem\">Simulation Subsystem<\/a><\/strong><\/p>\n\n\n\n<p>Before integrating each of our subsystems with the robot hardware platform, they are first tested in the simulation environment. The following video shows the work done in the simulation subsystem, where the simulation environment was built using Gazebo. <\/p>\n\n\n\n<p>Color features and textures are present within the pipe and the robot with the Intel RealSense sensor plug-in is able to move inside the pipe. <\/p>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1rDcQPq0qZtQj8icGdb5yrYpL8QExrtit\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<p>Left &#8211; Raw RGB image data received from the sensor <\/p>\n\n\n\n<p>Right &#8211; LIDAR data pointcloud returned from the sensor<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-medium-font-size\" id=\"localization&amp;mappingsubsystem\"><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation#localization&amp;mappingsubsystem\">Localization &amp; Mapping Subsystem<\/a><\/strong><\/p>\n\n\n\n<p>For the purposes our project, we are trying to build a pointcloud map of the inner surface of the gas pipeline.<\/p>\n\n\n\n<p>The following video shows the work done so far for this subsystem in the simulation environment where the output generated is a pointcloud mapping boundary of the pipe and obstacles.<\/p>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1kVp0dCHSo1lc0AIlZ-G3AsNgynC2QNtz\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-medium-font-size\" id=\"perceptionsubsystem\"><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation#perceptionsubsystem\">Perception Subsystem<\/a><\/strong><\/p>\n\n\n\n<p>In the perception subsystem, the obstacle detection algorithm was built to detect objects inside the pipe. The high-level goal of the perception subsystem is to be integrated with the planning &amp; control subsystem and send the appropriate messages when an obstacle is detected inside the pipe. At present, the perception subsystem sends out messages of obstacles being detected when the sensor is within a distance of 30 cm from the object.<\/p>\n\n\n\n<p>The following video shows the results of the perception subsystem built and the associated test results.<\/p>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1c6ocIYMAcEPJ0OnGM9iKpTtmeEO3tRcW\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-medium-font-size\" id=\"planning&amp;controlsubsystem\"><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation#planning&amp;controlsubsystem\">Planning &amp; Control Subsystem<\/a><\/strong><\/p>\n\n\n\n<p>In this subsystem, initial work was to write instructions where the appropriate commands are taken from the user and sent to the HEBI motor drivers to make the robot wheels turn.<\/p>\n\n\n\n<p>The following videos demonstrates the capability of the control subsystem.<\/p>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/19oIjjxdhHaGTfYFvTl9YdeSpHh3_EAR9\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/193RYBxmQoyfsbCBR3SBGzAzuxTDptErR\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1z4ENQ8FFBz4X_Wf105oeHEsv7CeyUrsu\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1DAHCpw5hri_7PW2B7m2c-vU0XVEEmDRk\/preview\" width=\"640\" height=\"480\"><\/iframe>\n\n\n\n<p><\/p>\n\n\n\n<p class=\"has-medium-font-size\" id=\"fullsystemdevelopment&amp;subsystemintegration\"><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/system-implementation#fullsystemdevelopment&amp;subsystemintegration\">Full System Development &amp; Subsystem Integration<\/a><\/strong><\/p>\n\n\n\n<p>At present, the perception, planning and control subsystems have been integrated to the robot hardware platform. The robot is now able to take commands from the user and move inside a 12-inch straight pipe, look for obstacles inside and when detected, stop all movement inside the pipe.<\/p>\n\n\n\n<p>The following video shows the tests conducted so far and the results obtained. In this video, a cube of ~9 cm in length x width x height is used as an obstacle inside the pipe and the robot is able to detect the obstacle and stop within a distance of 30 cm.<\/p>\n\n\n\n<iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1Qmg1Y4DN7Q21PdTAmlZNtteBLOJgmto_\/preview\" width=\"640\" height=\"480\"><\/iframe>\n","protected":false},"excerpt":{"rendered":"<p>The following are the details of each subsystem Mechanical Subsystem The robot built by the [&hellip;]<\/p>\n","protected":false},"author":328,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-247","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages\/247","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/users\/328"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/comments?post=247"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages\/247\/revisions"}],"predecessor-version":[{"id":337,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages\/247\/revisions\/337"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/media?parent=247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}