{"id":2,"date":"2025-11-20T20:47:23","date_gmt":"2025-11-20T20:47:23","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/?page_id=2"},"modified":"2026-05-02T03:09:39","modified_gmt":"2026-05-02T03:09:39","slug":"documents","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamb\/documents\/","title":{"rendered":"Documents"},"content":{"rendered":"\n

Brainstorming<\/h2>\n\n\n\n
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Very early brainstorming for project direction in Fall 2025. We’re already considering what blend of sensors and markers to use to achieve medical-level accuracy.<\/figcaption><\/figure>\n\n\n\n
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Whiteboard from late in Spring 2026. Brainstorming for final implementation details before SVD, and logistics of the SVD presentation.<\/figcaption><\/figure>\n\n\n\n

Electrical<\/h2>\n\n\n\n

Circuit Schematic<\/p>\n\n\n\n

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Board Layout<\/p>\n\n\n\n

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Data Sheets<\/p>\n\n\n\n

L298 Compact Solarbotics Motor Driver<\/p>\n\n\n\n

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SPG30 Brushed DC Geared Motor<\/p>\n\n\n\n

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DC Motor User Manual<\/a><\/p>\n\n\n\n

Software Charts<\/h2>\n\n\n\n
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Design flowchart for the point cloud segmentation part of our registration process. It names SAM2, but we would ultimately use a YOLO model for classification instead.<\/figcaption><\/figure>\n\n\n\n

Mechanical<\/h2>\n\n\n\n
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Our custom end effector mount design. It incorporates room for a swappable effector (drill, magnet point, etc), depth camera, and a special marker array in front.<\/figcaption><\/figure>\n\n\n\n

This end effector mount was designed to be 3D printed, then mounted to the end of our KUKA arm with the four screw holes on top. Individual IR markers can be easily screwed onto the array, and an end effector tip of our choice and the depth camera can be secured inside.<\/p>\n\n\n\n

Experiments<\/h2>\n\n\n\n
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The main subsystem we needed an offline experiment for was the AR digital twin. Since direct metrics of round-trip network packet latency was not reflective of true motion-to-motion display latency, we performed this experiment:<\/p>\n\n\n\n