Schedules
List of Presenters
| Progress Review | Date | Presenter |
| Motor Control Lab | 2/6/25 | Anirudh Shrihari |
| PR1 | 2/13/25 | Abhinandan Vellanki |
| PR2 | 2/27/25 | Oliver Berton |
| PR3 | 3/20/25 | Parth Gupta |
| PR4 | 4/8/25 | Rodrigo Lopes Catto |
Gantt Chart
Test Plan
Spring Validation Demonstration
Spring Validation Demonstration Description
Parts List
| Line Number | Quantity | Part Name | Unit Price | Total Price |
| 1 | 1 | 3 + 6 + 8 OZ Ice Scoop Set of 3, P&P CHEF Stainless Steel Food Scoops for Ice Cube Coffee Bean Cat Dog Food Flour Popcorn, Healthy & Sturdy, (Silver) | $15 | $15 |
| 2 | 1 | HOTEC Stainless Steel Kitchen Tongs Set of 3-7″, 9″ and 12″, Locking Metal Food Tongs Non-Slip Grip | $9.99 | $9.99 |
| 3 | 1 | Baderke 4 Pack Stainless Steam Hotel Pans with Lids, 1/6 Sixth Size x 6 Inch Deep, 0.7 mm Thick 304 Stainless Steel Hotel Pan Anti Steam Table Pan for Food Warmer Cooking Heat | $25.99 | $25.99 |
| 4 | 1 | U.S. Solid 0.1 g Precision Balance 3 kg Digital Analytical Lab Electronic Scale, 3100 g x 0.1g | $84.70 | $84.70 |
| 5 | 1 | Choose-a-Color White Acrylic Sheet 36″ x 48″ x 1/4″ | $156.09 | $156.09 |
| 6 | 1 | WYNNsky Industrial Air Plug Set, 3/8 Inch Body Size, 1/4 Inch NPT Male Threads Size | $6.75 | $6.75 |
| 7 | 1 | CEKER 4MM Female Elbow Airlines Push Fittings 90 Degree Push to Connect Fittings Air Fittings, PL 4mm Tubing Od x 1/4″ Npt Thread | $6.99 | $6.99 |
| 8 | 1 | ClearCore I/O and Motion Controller with Terminal Block Plugs | $108.00 | $108.00 |
| 9 | 1 | 6 Pack Anti-Jam Hotel Pans, 1/4 Size 2 1/2 Inch Deep, Commercial Stainless Steel Chafing Steam Table Pan, Catering Storage Metal Food Pan | $38.99 | $38.99 |
| 10 | 1 | 2-Pack LED Video Light Kit, NiceVeedi Studio Light, 2800-6500K Dimmable Photography Lighting Kit with Tripod Stand&Phone Holder, 73″ Stream Light for Video Recording, Game Streaming | $52.99 | $52.99 |
| 11 | 1 | Custom Vention Assembly Containing Parts for extension to current frame | $663.27 | $663.27 |
| 12 | 5 | 45mm x 45mm Aluminum Gusset | $7.15 | $35.75 |
| 13 | 10 | M8 x 20 mm Screw | $0.58 | $5.80 |
| 14 | 10 | M8 Drop-in Spring Loaded T-Nut | $0.89 | $8.90 |
| 15 | 1 | Medical Nitrile Exam Gloves, Latex-Free & Powder-Free Non-Sterile Food Safe Cleaning Disposable Glove, 100 Pcs | $8.68 | $8.68 |
| 16 | 1 | Clorox Disinfecting Wipes Value Pack, Bleach Free Cleaning Wipes, 75 Count Each, Pack of 2, | $9.20 | $9.20 |
| 17 | 1 | 24V 6A 144W AC Power Supply Adapter 6amp 100-240V AC to DC 24 Volt 6Amp 5.5mm x 2.1mm DC Plug, for DC 24V LED Strip Light, CCTV Cameras | $16.99 | $16.99 |
| 18 | 1 | 4 Pcs 4mm to 6mm Pneumatic Straight Reducing Push to Connect Adapter Quick Release Reducer Fittings (PG4-6) | $7.99 | $7.99 |
| 19 | 1 | Crucial BX500 1TB 3D NAND SATA 2.5-Inch Internal SSD, up to 540MB/s – CT1000BX500SSD1, Solid State Drive | $60.52 | $60.52 |
| 20 | 20 | M8 Drop-in Spring Loaded T-Nut | $0.89 | $17.80 |
| 21 | 40 | M8 x 25 mm Screw | $0.58 | $23.20 |
| 22 | 1 | U.S. Solid 0.1 g Precision Balance 3 kg Digital Analytical Lab Electronic Scale, 3100 g x 0.1g | $84.70 | $84.70 |
| 23 | 1 | Miuzei 21G Micro Servo Motor Metal Geared Mini Digital Servo Kit with 25T Horn for 1/14 1/16 1/18 RC Car Robot Helicopte (2) | $21.84 | $21.84 |
| 24 | 1 | Rotary Shaft, 12L14 Carbon Steel, 4 mm Diameter, 50 mm Long | $4.03 | $4.03 |
| 25 | 2 | Metal Gear – 20 Degree Pressure Angle, Round with Set Screw, 0.8 Module, 30 Teeth, 4 mm Shaft | $23.99 | $47.98 |
| 26 | 2 | 2305 Series Brass, MOD 0.8, Servo Gear (25 Tooth Spline, 30 Tooth) | $9.99 | $19.98 |
| 27 | 2 | 20 Degree Pressure Angle Gear Rack, 0.8 Module | $4.00 | $8.00 |
| 28 | 1 | 6 Pack Anti-Jam Hotel Pans, 1/4 Size 6 Inch Deep, Commercial Stainless Steel Chafing Steam Table Pan, Catering Storage Metal Food Pan | $48.99 | $48.99 |
| 29 | 1 | CableCreation [2-Pack] USB to RS232 Adapter with PL2303 Chip 10 FT, USB 2.0 to RS232 Female DB9 Serial Converter Cable for Cashier Register, Modem, Scanner, Digital Cameras, CNC, 3M Black | $22.99 | $22.99 |
| 30 | 1 | CY Cable Micro USB3.0 Dual Screws Locking to USB3.0 Data 5Gbps Power Cable 90 Degree Up Angled Type for VR Industrial Camera Computer (5.0m) | $19.88 | $19.88 |
| 31 | 1 | Choose a color 24″ x 24″ x 1/8″ Cast Acrylic Sheet | $37.07 | $37.07 |
| 32 | 1 | Frigidaire Portable 10L, 15-can Mini Fridge Brushed Stainless Rugged Refrigerator | $50.39 | $50.39 |
| 33 | 1 | USB Console Cable UART Serial Cable | $14.99 | $14.99 |
| 34 | 2 | PATIKIL 9×7 Fast Food Tray | $12.79 | $25.58 |
| 35 | 1 | Parchment Paper Sheets 300Pcs | $11.95 | $11.95 |
| 36 | 1 | SABRENT SATA to USB Cable | $9.99 | $9.99 |
| 37 | 1 | Staples TECH Adjustable Stand, Up to 24″ Monitor, Black | $26.69 | $26.69 |
| 38 | 20 | Zinc-Plated Steel Corner Bracket, 7/8″ x 7/8″ x 5/8″ | $1.12 | $22.40 |
| 39 | 1 | Choose-a-Color White Acrylic Sheet 24″ x 36″ x 1/8″ | $45.58 | $45.58 |
| 40 | 1 | 14 Gallon Ultra Quiet Air Compressor with Two Quick Couplers, 2HP 8.75 CFM, Max 115 PSI Pressure Oil-Free Air Compressor Tank, 70dB Quiet Compressor for Auto Repair, Tire Inflation | $269.99 | $269.99 |
| 41 | 1 | ELEGOO PLA Filament 1.75mm | $42.47 | $42.47 |
| 42 | 1 | OVERTURE TPU Filament 1.75mm | $27.99 | $27.99 |
| 43 | 1 | PATIKIL 12×9 Fast Food Tray | $15.10 | $15.10 |
| 44 | 1 | 1/4 NPT Elbow Push to Connect Fittings,CEKER 8MM Tube Od x 1/4″ NPT | $7.99 | $7.99 |
| 45 | 1 | 10MM OD Tubing Push to Connect Fitting Elbow,CEKER 1/4NPT | $8.99 | $8.99 |
| 46 | 1 | TAILONZ PNEUMATIC Female Straight 10MM Tube OD x 3/8 Inch BSP | $16.99 | $16.99 |
| 47 | 1 | 10mm OD x 8mm OD Pneumatic quick Connector Push to Connect fittings | $8.99 | $8.99 |
| 48 | 1 | PNEUMATIC Blue 8mm | $18.99 | $18.99 |
| 49 | 1 | PNEUMATIC 10mm OD | $25.99 | $25.99 |
| 50 | 1 | Quick Connect Brass Air Coupler and Plug Kit – 1/4-Inch NPT Fittings | $18.99 | $18.99 |
| 51 | 1 | (5 Male + 5 Female) 12 V 2.1×5.5mm DC Power Jack Plug | $4.99 | $4.99 |
| 52 | 1 | SanDisk 256GB Extreme microSDXC | $23.50 | $23.50 |
| 53 | 1 | 2pcs/1.6ft 5.5×2.5mm 12 Volt | $7.99 | $7.99 |
| 54 | 1 | Utopia Kitchen Rectangle Table Cloth | $18.99 | $18.99 |
| 55 | 3 | Piab S1-3/ BG48 Vacuum Suction Cup G3/8″(NEW) | $20.00 | $60.00 |
| 56 | 1 | Piab FCF25P.4R.G68W Suction Cup | $19.99 | $19.99 |
| 57 | 1 | FESTO 189356 suction cup complete | $48.23 | $48.23 |
| 58 | 1 | ArtResin – Epoxy Resin – Clear – Non-Toxic – 16 oz (8 oz Resin + 8 oz Hardener) (474 ml) | $36.00 | $36.00 |
| 59 | 1 | Pronto 100% Pure Acetone – Quick, Professional Nail Polish Remover – For Natural, Gel, Acrylic, Sculptured Nails (8 FL. OZ.) | $7.99 | $7.99 |
| 60 | 1 | Polymaker ABS Filament 2.85mm(3mm) Black, 1kg ABS 3D Printing Filament, PolyLite ABS 3D Printer Filament, Heat Resistant, Strong & Durable, Dimensional Accuracy +/- 0.03mm | $22.99 | $22.99 |
| 61 | 1 | 220Pcs Threaded Inserts M2 M2.5 M3 M4 M5 M6 Brass Heat Set Insert for Plastic and 3D Printing Components | $9.34 | $9.34 |
| 62 | 1 | Katbite 120Pcs 8×12 inches Parchment Paper Sheets, Heavy Duty Unbleached Baking Paper, Pre-cut Parchment Paper for Baking, Air Fryer, Grilling, Steaming | $11.99 | $11.99 |
| 63 | 1 | GeeRic Baking Parchment Paper, 100Pcs 8×12 inch Kitchen Parchment Paper Baking Sheets, Non-Stick Precut Baking Parchment for Baking Cookies, Bread, Meat, Pizza (White) | $6.99 | $6.99 |
| 64 | 1 | Parchment Paper Sheets 300Pcs | $11.95 | $11.95 |
| 65 | 1 | PNEUMATIC 10mm OD | $25.99 | $25.99 |
| 66 | 1 | Clorox Disinfecting Wipes Value Pack, Bleach Free Cleaning Wipes, 75 Count Each, Pack of 2, | $9.20 | $9.20 |
| 67 | 1 | Medical Nitrile Exam Gloves, Latex-Free & Powder-Free Non-Sterile Food Safe Cleaning Disposable Glove, 100 Pcs | $8.68 | $8.68 |
| 68 | 1 | Kitchen Tongs, Stainless Steel Silicone Tongs for Cooking 600ºF High Heat-Resistant BBQ Grilling Locking Tongs, Set of 2-9″ and 12″ | $7.59 | $7.59 |
| 69 | 1 | White Freezer Tape 5 Rolls -165 Yard,Writable Surface,Easy to Tear, Low Temperature Resistance,Residue-Free Removal, Each Roll 3/4 in x 33Yard | $9.50 | $9.50 |
Issues Log
| Number | Initiated | Resolved | Participants | Description | Options | Resolution | Justification |
| 1 | 2/10/25 | 3/4/25 | abhinanv | The stop skill function in FrankaPy is not functioning correctly. | 1. Debug the Franka-Interface and find the root issue. 2. Transition to a new ROS agnostic version of FrankaPy | Debugged issue and tested result. | We decided it was better to put in the effort debugging the current version as switching to a new version of FrankaPy held to many risks. |
| 2 | 2/12/25 | 3/24/25 | rlopesca | The flow rate of the suction end effector is not high enough to pick up bread. | 1. Introduce items (such as an acrylic plate) to the environment that can be used to pick up the bread. 2. Design a new tool onto the end effector that can pick up the bread. 3. Purchase a new system. | Purchase a new, higher flow rate suction system. | A new, higher flow system integrates directly into our system and provides the least amount of technical complexity. |
| 3 | 3/10/25 | 3/28/25 | oberton | End effector grasp position is offset from the ideal grasp position due to transformation errors. | 1. Redo hand-eye calibration. 2. Redo intrinsics calibration. 3. Create script to validate transformations. | Redo intrinsics and hand-eye calibrations, and then use script to test results, manually tweaking the hand-eye transform results until error is zero. | Although we could reduce errors by redoing the calibrations, the difference between predicted and actual locations in the camera frame is near zero. Having a validation script allowed us to manually make small tweaks to the transform until the error was near zero. |
| 5 | 3/27/25 | 3/30/25 | oberton | Vision node using outdate transform tree to transform pickup point to base frame. | 1. Introduce delay between moving to position and calculating pickup point. 2. Run transform subscriber in separate thread than rest of vision services. | Introduce a small sleep between reaching a new position and calculating pickup/place points. | The TF tree lags slightly behind the arm when in motion. A small sleep is required to let the TF tree catch up before the vision node can use the TF and get an accurate point in the base frame of the arm. |
Risk Management
The table below outlines the top 5 risks while developing our system – SNAAK. The severity of each risk has been quantified by assigning a rating of 1-5 to the consequence and likelihood levels for each risk. Mitigation actions were devised by the team to strategically reduce the severity of risk by either limiting the consequences or the likelihood of the risk.
| Number | Risk | Consequences | Likelihood | Mitigation Plan |
| 1 | The same tool/manipulation strategy for one shredded ingredient will not be the same for other shredded ingredients. | 4 | 3 | 1. Test different shredded ingredients by hand before developing algorithms 2. Choose shredded ingredients with similar consistencies |
| 2 | The same tool/manipulation strategy for one sliced ingredient will not be the same for other sliced ingredients. | 5 | 3 | 1. Test manipulation strategies by hand on several types of sliced ingredients. 2. Use sliced ingredients that are easily manipulated by the chosen strategy (ex. dry ingredients). |
| 3 | Some parts do not arrive on time | 4 | 4 | 1. Order parts early. 2. Schedule buffer times for estimated delivery to account for delays. 3. Order parts from a variety of vendors. |
| 4 | The system is damaged or needs new calibration after it is wheeled from one location to another. | 4 | 4 | 1. Make heavy components removable. 2. Fasten all connections securely. 3. Budget a full day for any transportation. |
| 5 | Weighing scales under ingredients are inaccurate because of cold temperatures. | 3 | 5 | 1. Do not use active cooling under the bins, as regulations allow for ingredients to remain out for 4 hours. |
| 6 | New suction components arrive late / arrive wrong / don’t work | 4 | 4 | 1. Continue to develop acrylic sheet based pick and place. |
| 7 | Vision algorithms are not able to generalize for high capacity arrangements of meat and cheese. | 3 | 4 | 1. Collect data with different arrangement and finetune to increase the range of compatible arrangements. 2. Develop UNet-based approach in parallel to SAM-based approached. |
| 8 | Material properties of ingredients change after being left out, degrading performance. | 4 | 3 | 1. Test manipulation for ingredients left out for varying amounts of time and identify points of performance dip |
Risk-Consequence Likelihood Matrix
