Procedure<\/strong>:<\/p>\n\n\n\n01. Place the tripods mounted with the RealSense D435i at oblique angles, getting overlapping coverage for both cameras.<\/p>\n\n\n\n
02. Power on the intranet WiFi router, off-board sensors, and RC Units.<\/p>\n\n\n\n
03. Configure the RC car and connect to the off-board compute.<\/p>\n\n\n\n
04. Launch software stack for all the sub-systems (RC car, off-board compute, data aggregation unit, and external compute).<\/p>\n\n\n\n
05. Perform sub-system level hierarchical predefined tests (H\/W & S\/W).<\/p>\n\n\n\n
06. Proceed with the demonstration if no errors are reported; otherwise, follow unit tests for rooting out system failures.<\/p>\n\n\n\n
07. Provide the operator with control instructions.<\/p>\n\n\n\n
08. Place the RC car at a predefined initial area.<\/p>\n\n\n\n
10. The operator is asked to park the car without the visual cues or BEV.<\/p>\n\n\n\n
11. Parking status is shown as completed by the system.<\/p>\n\n\n\n
12. Repeat steps 08 – 11. Document performance against defined requirements and validate.<\/p>\n\n\n\n
\n\n\n\nSuccess Criteria:<\/strong><\/p>\n\n\n\nSC.1: Successful parking is detected 80% of the time.<\/p>\n\n\n\n
SC.2: A safety tolerance of 10 cm is maintained at all times from obstacles.<\/p>\n\n\n\n
Verification Method:<\/strong><\/p>\n\n\n\n\n- Comparison of PERCIV against ground truth generated using ArUco tags <\/li>\n\n\n\n
- Treating the pose of the RC car as ground truth, the translational and orientation error after parking is observed.<\/li>\n<\/ul>\n\n\n\n
\n\n\n\n<\/p>\n\n\n\n
Parts List <\/h3>\n\n\n\n
As of the current stage of the project, significant purchases have been made in line with the allocated budget. A total expenditure of $3108 has been utilized out of the total budget of $5000, representing 62% of the allocated funds. These expenditures encompass crucial components necessary for the development and implementation of the teleoperated parking system, including the procurement of Jetacker cars, infrastructure, and HMI equipment.<\/p>\n\n\n\nBudget<\/strong><\/td><\/tr>S.No<\/strong><\/td>Item Description<\/strong><\/td>Price<\/strong><\/td><\/tr>| 1<\/td> | Yahboom Jeston Nano Smart Robot Car Kit(R2 Standard)<\/td> | $643<\/td><\/tr> | | 2<\/td> | NEEWER Tripod Fluid Head<\/td> | $38.15<\/td><\/tr> | | 3<\/td> | 8 Pieces Camera Screw Adapter<\/td> | $10.49<\/td><\/tr> | | 4<\/td> | Frgyee 12 Pcs 1\/4″ 3\/8″ Light Stand Adapter<\/td> | $11.65<\/td><\/tr> | | 5<\/td> | Lockport White Gaffer Tape 2 Inch – 2 Pack \u2013 30 Yards<\/td> | $21.19<\/td><\/tr> | | 6<\/td> | Lockport Black Gaffers Tape 3 Pack<\/td> | $26.34<\/td><\/tr> | | 7<\/td> | NEEWER Tripod Fluid Head<\/td> | $107.97<\/td><\/tr> | | 8<\/td> | waveshare Power Supply for Jetson Nano<\/td> | $38.97<\/td><\/tr> | | 9<\/td> | SanDisk Ultra 128GB<\/td> | $95.94<\/td><\/tr> | | 10<\/td> | 8 Pieces Camera Screw Adapter<\/td> | $10.49<\/td><\/tr> | | 11<\/td> | Frgyee 12 Pcs 1\/4″ 3\/8″ Light Stand Adapter<\/td> | $11.65<\/td><\/tr> | | 12<\/td> | Logitech G29 Driving Force Racing Wheel and Floor Pedals<\/td> | $379.99<\/td><\/tr> | | 13<\/td> | Beikell Memory Card Reader<\/td> | $17.98<\/td><\/tr> | | 14<\/td> | Memory Card Case<\/td> | $6.99<\/td><\/tr> | | 15<\/td> | 12 Inch Traffic Training Cones<\/td> | $53.98<\/td><\/tr> | | 16<\/td> | 12 Inch Traffic Training Cones<\/td> | $26.99<\/td><\/tr> | | 17<\/td> | Dell Multi-Device Wireless keyboard and mouse<\/td> | $76.99<\/td><\/tr> | | 18<\/td> | Dell Wireless Keyboard and Mouse – KM3322W<\/td> | $24.99<\/td><\/tr> | | 19<\/td> | Acer Monitor 27 inch<\/td> | $109.99<\/td><\/tr> | | 20<\/td> | Cat 6 Cables 100ft<\/td> | $30.38<\/td><\/tr> | | 21<\/td> | Anker usb C hub(6 in one)<\/td> | $70.00<\/td><\/tr> | | 22<\/td> | hc sr04 ultrasound sensors 10 pc<\/td> | $14<\/td><\/tr> | | 23<\/td> | ITD ITANDA 10FT USB Extension Cable USB 3.0 Extension Cord Type A Male to Female 15 feet<\/td> | $48<\/td><\/tr> | | 24<\/td> | Yahboom AI Robotic Car Chassis kit Autopilot Training Ackerman<\/td> | $360<\/td><\/tr> | | 25<\/td> | NVIDIA Jetson Nano Developer Kit (945-13450-0000-100)<\/td> | $298<\/td><\/tr> | | 26<\/td> | Arduino Mega 2560 REV3 [A000067]<\/td> | $97.80<\/td><\/tr> | | 27<\/td> | TP-Link Archer T2U Plus AC600 High Gain Dualband USB WLAN Adapter<\/td> | $72<\/td><\/tr> | | 28<\/td> | 120pcs 10cm Dupont Wire Male to Female Breadboard Jumper Wires 3.9 inch 1pin-1pin 2.54mm Connector<\/td> | $7<\/td><\/tr> | | 29<\/td> | 120pcs 20cm Dupont Wire Male to Female Breadboard Jumper Wires 7.9 inch 1pin-1pin 2.54mm<\/td> | $7<\/td><\/tr> | | 30<\/td> | 500PCS 1 Pin Header Connector Housing for Dupont Wire Jumper Compact<\/td> | $7.89<\/td><\/tr> | | 31<\/td> | Lockport Black Gaffers Tape 3 Pack<\/td> | $27.89<\/td><\/tr> | | 32<\/td> | Lockport White Gaffers Tape 2 Inch – 2 Pack White Tape \u2013 30 Yards<\/td> | $19.88<\/td><\/tr> | | 33<\/td> | 10PCS\/LOT Ultrasonic Sensor Mounting Bracket for HC-SR04 Smart Car AL HC-SR04 HC SR04 HCSR04 Distance Sensor (10PC hc-sr04 Mounting Bracket)<\/td> | $16.98<\/td><\/tr> | | 34<\/td> | Explux High-Intensity Yellow LED PAR38 Flood Light Bulb, 250W Equivalent Ultra Bright Yellow Light, Full-Glass Outdoor Waterproof & Anti-Ageing, Dimmable, Yellow Color Spotlight, 2-Pack<\/td> | $45<\/td><\/tr> | | 35<\/td> | Monoprice 1.5-Feet USB 2.0 A Male to B Male 28\/24AWG Cable (Gold Plated) (105436),Black<\/td> | $25<\/td><\/tr> | | 36<\/td> | USB to USB Cable [13cm 5 inch],USB 3.0 Male to Male Type A to Type A<\/td> | $40<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n <\/p>\n\n\n\n Issue Log <\/h3>\n\n\n\nIssue ID<\/strong><\/td>Issue Subsystem<\/strong><\/td>Date Created<\/strong><\/td>Raised By<\/strong><\/td>Owner<\/strong><\/td>Description<\/strong><\/td>Priority<\/strong><\/td>Severity<\/strong><\/td><\/tr>| I-1<\/td> | Hardware<\/td> | 01\/16\/2024<\/td> | Sashank<\/td> | Sashank
Khush<\/td> | Basic collision checking<\/td> | Medium<\/td> | Low<\/td><\/tr> | | I-2<\/td> | Perception<\/td> | 01\/20\/2024<\/td> | Shahram<\/td> | Sashank
Dhruv<\/td> | Time lag for multi camera synchronization<\/td> | High<\/td> | High<\/td><\/tr> | | I-3<\/td> | Perception<\/td> | 01\/30\/2024<\/td> | Sivvani<\/td> | Dhruv
Khush
Sashank<\/td> | Low resolution during BEV generation<\/td> | Medium<\/td> | High<\/td><\/tr> | | I-4<\/td> | Logistics <\/td> | 02\/06\/2024<\/td> | Sashank<\/td> | Sashank Sivvani<\/td> | Order second car<\/td> | Medium<\/td> | High<\/td><\/tr> | | I-5<\/td> | Controls<\/td> | 02\/10\/2024<\/td> | Dhruv<\/td> | Dhruv
Shahram<\/td> | Issue with odometry being published<\/td> | Medium<\/td> | Medium<\/td><\/tr> | | I-6<\/td> | Controls<\/td> | 02\/10\/2024<\/td> | Khush<\/td> | Dhruv
Khush
Sashank<\/td> | Network latency<\/td> | Medium<\/td> | Medium<\/td><\/tr><\/tbody><\/table>As of February 23, 2024<\/figcaption><\/figure>\n\n\n\n <\/p>\n\n\n\nIssue ID<\/strong><\/td>Issue Subsystem<\/strong><\/td>Date Created<\/strong><\/td>Raised By<\/strong><\/td>Description<\/strong><\/td>Priority<\/strong><\/td>Severity<\/strong><\/td>Mitigation<\/strong><\/td><\/tr>| R-1<\/td> | Controls<\/td> | 03\/28\/2024<\/td> | Khush<\/td> | Difficulty in controlling speed (only one gear)<\/td> | Low<\/td> | High<\/td> | Add gears for finer speed control<\/td><\/tr> | | R-2<\/td> | Controls<\/td> | 03\/20\/2024<\/td> | Dhruv<\/td> | Car colliding on sides with only front \/ rear ultrasound sensors<\/td> | High<\/td> | High<\/td> | Use additional side sensors for avoiding side collisions<\/td><\/tr> | | R-3<\/td> | Logistics<\/td> | 03\/10\/2024<\/td> | Sashank<\/td> | Procurement Delays<\/td> | Low<\/td> | Medium<\/td> | Order early. Look for locally available products and faster shipping options<\/td><\/tr> | | R-4<\/td> | Perception<\/td> | 04\/01\/2024<\/td> | Shahram<\/td> | YOLO data annotation produces wrong format of corners<\/td> | Low<\/td> | High<\/td> | Exported data as PASCAL VOC format with auto-orientation pre-processing enabled and converted to YOLOV8-OBB format<\/td><\/tr> | | R-5<\/td> | Logistics<\/td> | 03\/25\/2024<\/td> | Sivvani<\/td> | Faulty parts\/breakdown of parts\/ loss of parts<\/td> | Medium<\/td> | High<\/td> | Order spare parts keeping in mind the fiscal impacts<\/td><\/tr><\/tbody><\/table>As of April 5, 2024<\/figcaption><\/figure>\n\n\n\nRisk Management<\/h3>\n\n\n\nRisk ID<\/strong> <\/td>Description<\/strong><\/td>Risk type<\/strong> <\/td> <\/strong>L<\/strong> <\/td>C<\/strong> <\/td>Mitigation<\/strong> <\/td><\/tr>R1<\/strong><\/td>| Components not arriving on time<\/td> | Schedule<\/td> | 3<\/strong><\/td>3<\/strong><\/td>| Ordered from reliable vendors \/ ahead of time<\/td><\/tr> | R2<\/strong><\/td>| Unable to meet the budget requirements<\/td> | Cost<\/td> | 2<\/strong><\/td>4<\/strong><\/td>| Use existing setup<\/td><\/tr> | R3<\/strong><\/td>| Communication failure<\/td> | Technical<\/td> | 2<\/strong><\/td>5<\/strong><\/td>| Setup local network and use suitable protocol<\/td><\/tr> | R4<\/strong><\/td>| Depth scaling<\/td> | Technical<\/td> | 5<\/strong><\/td>5<\/strong><\/td>| Use sensor fusion techniques (LiDAR)<\/td><\/tr> | R5<\/strong><\/td>| Fisheye effect in BEV<\/td> | Technical<\/td> | 3<\/strong><\/td>5<\/strong><\/td>Use DL based techniques<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\nRisk Likelihood-Consequence Matrix<\/strong><\/h3>\n\n\n\n![\"\"](\"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-content\/uploads\/sites\/76\/2024\/04\/image.png\") <\/figure>\n","protected":false},"excerpt":{"rendered":"Schedule Our Presenter Round Robin for the Fall’24 semester is as follows: PR01 Shahram Najam Syed PR02 Sri Sashank Undavalli PR03 Sivvani Muthusamy PR04 Khush Agrawal PR05 Dhruv Gupta Our Presenter Round Robin for the Spring’24 semester is as follows: PR01 Khush Agrawal PR02 Shahram Najam Syed PR03 Sivvani Muthusamy PR04 Sri Sashank Undavalli PR05 Dhruv Gupta Project Development Schedule […]<\/p>\n","protected":false},"author":353,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-42","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/pages\/42","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/users\/353"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/comments?post=42"}],"version-history":[{"count":12,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/pages\/42\/revisions"}],"predecessor-version":[{"id":192,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/pages\/42\/revisions\/192"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2024teamc\/wp-json\/wp\/v2\/media?parent=42"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}} | | | | | | | | | | | | | | | | | | | | | |
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<\/figure>\n\n\n\n![](\"https:\/\/lh7-us.googleusercontent.com\/eVpl3SUf7BxuTIIMQK8wcZe536k8P6WPOinwrOLbv0o-VwgRbDPTKJMY8GzL72XhIEgL8dKO002pysM2HgGXcnG54WLESLZwbxJeAxQaF2KhKVDX4evAjhbk9Pinvh71ZBao_nzAupInlk9S76-nEu0XYQ=s2048\")
<\/p>\n\n\n\n