{"id":11,"date":"2026-02-21T02:32:41","date_gmt":"2026-02-21T02:32:41","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/project-management\/"},"modified":"2026-05-01T20:21:27","modified_gmt":"2026-05-01T20:21:27","slug":"project-management","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/project-management\/","title":{"rendered":"Project Management"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Gantt Chart<\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"509\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/03\/Online-Gantt-20260308-1024x509.png\" alt=\"\" class=\"wp-image-71\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/03\/Online-Gantt-20260308-1024x509.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/03\/Online-Gantt-20260308-300x149.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/03\/Online-Gantt-20260308-768x381.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/03\/Online-Gantt-20260308.png 1476w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">Presenters<\/h2>\n\n\n\n<p>Sensors and Motors Lab: Shubh Jain<br>PR01: Aayush Agrawal<br>PR02: Shreenabh Agrawal<br>PR03: Gabriel Zaragoza<br>PR04: Shubh Jain<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">Test Plan<\/h2>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1sTNKvjbkcYXwbn3gEikLNB9JdzENuzi6\/view\">Spring Test Plan<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/docs.google.com\/document\/d\/165HlzXf83ue0T-Ala1gWjVYuVu2C2Bjt\">SVD Plan<\/a><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">Parts List<\/h2>\n\n\n\n<p>Our main spending for the project:<\/p>\n\n\n\n<p><strong>Subsystem Hardware: $440<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Logitech Muse Spatial Controller, 2 Adafruit foot switches, 2 Raspberry Pi Zero, Studio Lights + Stand<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\"><\/ol>\n\n\n\n<p><strong>Software &amp; Operations: $129<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Apple Developer License, surgery drape sheets<\/li>\n<\/ul>\n\n\n\n<p><strong>Provided by Sponsor\/Past Teams<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>KUKA LBR Med 7 Cobot, Apple Vision Pro headset, Polaris IR camera and tracker arrays, RTX 4070 workstation computer<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">Issues Log<\/h2>\n\n\n\n<p><a href=\"https:\/\/docs.google.com\/spreadsheets\/d\/1YSf0-rE2WGIKYF8OEtyi2dT0NICRgtyZz-mdFiJGea8\">Team B Issues Log<\/a><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading\">Risk Management<\/h2>\n\n\n\n<table id=\"tablepress-1\" class=\"tablepress tablepress-id-1\">\n<thead>\n<tr class=\"row-1\">\n\t<th class=\"column-1\"><strong>ID<\/strong><\/th><th class=\"column-2\"><strong>Risk<\/strong><\/th><th class=\"column-3\"><strong>Req.<\/strong><\/th><th class=\"column-4\"><strong>Type<\/strong><\/th><th class=\"column-5\"><strong>L<\/strong><\/th><th class=\"column-6\"><strong>C<\/strong><\/th><th class=\"column-7\"><strong>Mitigation<\/strong><\/th>\n<\/tr>\n<\/thead>\n<tbody class=\"row-striping row-hover\">\n<tr class=\"row-2\">\n\t<td class=\"column-1\">R1<\/td><td class=\"column-2\">Registration accuracy<br \/>\nbelow medical grade<\/td><td class=\"column-3\">PR1,<br \/>\nPR6<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">0<\/td><td class=\"column-6\">4<\/td><td class=\"column-7\">Atracsys ground truth setup operational;<br \/>\nYOLO 2D pipeline replaces SAM; ICP with iterative refinement<\/td>\n<\/tr>\n<tr class=\"row-3\">\n\t<td class=\"column-1\">R2<\/td><td class=\"column-2\">Mis-drill of bone by<br \/>\nrobot end effector<\/td><td class=\"column-3\">PR5,<br \/>\nNFR2<\/td><td class=\"column-4\">Safety<\/td><td class=\"column-5\">2<\/td><td class=\"column-6\">5<\/td><td class=\"column-7\">Dry-run cycles without tool rotation;<br \/>\nvirtual safe zones + geofencing; force monitoring; physical + software E-stop<\/td>\n<\/tr>\n<tr class=\"row-4\">\n\t<td class=\"column-1\">R3<\/td><td class=\"column-2\">S+N drill handpiece<br \/>\nincompatible with KUKA<\/td><td class=\"column-3\">FR3.1<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">3<\/td><td class=\"column-6\">4<\/td><td class=\"column-7\">Software integration first; fallback to<br \/>\nsimple drill with robot pose\/feed control<\/td>\n<\/tr>\n<tr class=\"row-5\">\n\t<td class=\"column-1\">R4<\/td><td class=\"column-2\">Teleoperation latency<br \/>\nexceeds safe threshold<\/td><td class=\"column-3\">PR9,<br \/>\nFR4.1<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">3<\/td><td class=\"column-6\">4<\/td><td class=\"column-7\">Local network testing first; command buffering<br \/>\nprotocol; latency monitoring with auto-halt<\/td>\n<\/tr>\n<tr class=\"row-6\">\n\t<td class=\"column-1\">R5<\/td><td class=\"column-2\">System integration<br \/>\ndelays across subsystems<\/td><td class=\"column-3\">NFR1<\/td><td class=\"column-4\">Schedule<\/td><td class=\"column-5\">0<\/td><td class=\"column-6\">4<\/td><td class=\"column-7\">Defined ROS2 interfaces; weekly integration<br \/>\ncheckpoints; parallel development tracks<\/td>\n<\/tr>\n<tr class=\"row-7\">\n\t<td class=\"column-1\">R6<\/td><td class=\"column-2\">IR tracking drift during<br \/>\nextended procedure<\/td><td class=\"column-3\">PR1,<br \/>\nPR3<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">0<\/td><td class=\"column-6\">4<\/td><td class=\"column-7\">EKF smoothing in pipeline; periodic re-calibration<br \/>\nchecks; Atracsys as backup reference<\/td>\n<\/tr>\n<tr class=\"row-8\">\n\t<td class=\"column-1\">R7<\/td><td class=\"column-2\">Budget overrun from<br \/>\nbone model consumption<\/td><td class=\"column-3\">&#8212;<\/td><td class=\"column-4\">Cost<\/td><td class=\"column-5\">3<\/td><td class=\"column-6\">3<\/td><td class=\"column-7\">Moldable surrogates for iterative testing;<br \/>\nanatomic models reserved for final validation<\/td>\n<\/tr>\n<tr class=\"row-9\">\n\t<td class=\"column-1\">R8<\/td><td class=\"column-2\">Drilling reliability under load &#8211; force, torque<\/td><td class=\"column-3\">FR6<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">3<\/td><td class=\"column-6\">4<\/td><td class=\"column-7\">T11 bench characterization w\/ force+torque telemetry; T12 force-monitored drilling on phantom; abort thresholds wired to software E-stop.<\/td>\n<\/tr>\n<tr class=\"row-10\">\n\t<td class=\"column-1\">R9<\/td><td class=\"column-2\">NFR-05 compliance gap<\/td><td class=\"column-3\">NFR5<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">3<\/td><td class=\"column-6\">2<\/td><td class=\"column-7\">T15 compliance-mapping checklist. Documentation only \u2014 not full certification (out of scope for academic project).<\/td>\n<\/tr>\n<tr class=\"row-11\">\n\t<td class=\"column-1\">R10<\/td><td class=\"column-2\">Cross-coordinate-frame bug recurrence with new EE<\/td><td class=\"column-3\">FR2<\/td><td class=\"column-4\">Technical<\/td><td class=\"column-5\">2<\/td><td class=\"column-6\">3<\/td><td class=\"column-7\">Static transform publisher with explicit checks; unit tests for each transform; behaviour tree for state management.<\/td>\n<\/tr>\n<tr class=\"row-12\">\n\t<td class=\"column-1\"><span style=\"color:#5A5A5A\">L = Likelihood (1-5), <br> C = Consequence (1-5). <br> Scale: 1 = lowest, 5 = highest.<\/span><\/td><td class=\"column-2\"><\/td><td class=\"column-3\"><\/td><td class=\"column-4\"><\/td><td class=\"column-5\"><\/td><td class=\"column-6\"><\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<!-- #tablepress-1 from cache -->\n\n\n<div class=\"wp-block-group has-global-padding is-layout-constrained wp-block-group-is-layout-constrained\">\n<h3 class=\"wp-block-heading\"><strong>Risk Matrix<\/strong><\/h3>\n<\/div>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"502\" height=\"478\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/05\/risk-matrix.png\" alt=\"\" class=\"wp-image-156\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/05\/risk-matrix.png 502w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-content\/uploads\/sites\/93\/2026\/05\/risk-matrix-300x286.png 300w\" sizes=\"auto, (max-width: 502px) 100vw, 502px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Gantt Chart Presenters Sensors and Motors Lab: Shubh JainPR01: Aayush AgrawalPR02: Shreenabh AgrawalPR03: Gabriel ZaragozaPR04: Shubh Jain Test Plan Spring Test Plan SVD Plan Parts List Our main spending for the project: Subsystem Hardware: $440 Software &amp; Operations: $129 Provided by Sponsor\/Past Teams Issues Log Team B Issues Log Risk Management Risk Matrix<\/p>\n","protected":false},"author":440,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-11","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/pages\/11","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/users\/440"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/comments?post=11"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/pages\/11\/revisions"}],"predecessor-version":[{"id":157,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/pages\/11\/revisions\/157"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/wp-json\/wp\/v2\/media?parent=11"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}