Preliminary Design Review
Preliminary Design ReviewS.H.A.R.C.Simulated Hand and Arm Remote ControlTeam 6Connor Pope, Daniel Sheridan, Derek Caudill, Harrison ShecterOctober 22, 2015Department of Electrical and Computer EngineeringUMass. ProprietaryAdvisor: Professor Bardin1
Project Description Our SDP team is going to design and build asystem that controls a robotic arm wirelesslyusing wearable sensors. The robot arm is an open-source 3D printeddesign in order to focus our efforts on designingand building the controllerUMass. ProprietaryC.P.22
The Arm InMoov Robot Project Open source Directions on how toassemble the arm areprovided All parts and 3D modelsare givenUMass. ProprietaryC.P.33
Significance and Societal Impacts Bomb Defusal Animatronic control - Better accuracy more intuitivecontrol Safer and more efficient defusal Medical Surgeries Animatronic control maps to surgeon muscle memory Scaled robotics leads to scaled surgeries Quality of Life Robot arm drone Reaching the unreachable Manufacturing 100 Robot arms 1 glove/sleeve Defense Non-autonomous and unmanned weaponsUMass. ProprietaryC.P.44
Alternatives ApproachesJoystickControllerElectrode BasedSystemVisual TrackingAdvantages- Simplestdesign- Inexpensive toproduce- Allows controlof limbs thataren’tnecessarilythere (i.e. foruse inprosthetics)- Precise opticalmapping fromuser’s imageDisadvantages- Lacks intuitivecontrol- High learningcurve- Requiresbackground inbio- Expensive- Noise fromsmall signals- Design requireshigh resolutionoptical sensors- Very CPUintensiveUMass. ProprietaryH.S.55
Requirements - Specifications Five degrees of freedom for arm movement Individual finger control Wireless communication between sensorglove/sleeve and robot arm Maximum latency of 500 ms Sensor glove/sleeve can be used by multipleusersUMass. ProprietaryD.C.66
Requirements – Input/Output Inputs Accelerometer force dataGyroscope orientation dataFlex sensor dataFeedback sensor data Outputs Servo angle/rotation Independent for each servo Capture motion recording libraryUMass. ProprietaryD.C.77
High Level Block DiagramUMass. ProprietaryD.S.88
Distribution of ResponsibilitiesConnorDerekHarrisonDan- R Pi Robot Armprogramming- Sensorselection andplacement onsleeve- Calibrating andtesting servos- R Pi SleeveProgramming- Sensorselection andplacement forfeedback- Receive datafrom Sleeve- Use sensordata tocompute armmovements- Sleeve/gloveassembly- 3D Printing of- Flex sensorparts andbias networkassembly of 3Dprinted partsUMass. ProprietaryD.S.- Power supply- Transmit datato robot arm- Communication- Assembly of 3Darchitecture forprinted partsRaspberry Pis99
Sensor Glove Sleeve - DerekUMass. ProprietaryD.C.1010
Sensor Glove Sleeve - Derek Gyroscope and Accelerometeron one chip Signal amplification andfiltering Digital outputUMass. ProprietaryD.C.1111
Sensor Glove Sleeve - Derek Flex sensor Variable resistance basedof bend of strip Voltage divider with flexsensor to measurefinger movementUMass. ProprietaryD.C.1212
Sleeve R Pi - DanUMass. ProprietaryD.S.1313
Sleeve R Pi - Dan Chosen WiFi Adapter is theEdimax EW-7811Un Supports 802.11n Cheap Compatible with R PiUMass. ProprietaryD.S.1414
Robot Arm R Pi - ConnorUMass. ProprietaryC.P.1515
Robot Arm - HarrisonUMass. ProprietaryH.S.1616
Robot Arm - Harrison Servo models provided byinstructions for InMoov robotarm HS-808BB for arm MG996r for fingersUMass. ProprietaryH.S.1717
MDR Deliverables Functioning ad-hoc Wi-Fi communicationbetween Raspberry Pi’s (Dan) Sensor glove complete and sending signals toRaspberry Pi (Derek) Raspberry Pi on robot arm sending controlsignals to finger servos (Connor) Servo power supply for fingers and assemblyservo calibration (Harrison) 3D printed and assembled robot hand/arm (All)UMass. ProprietaryD.S.1818
between Raspberry Pi’s (Dan) Sensor glove complete and sending signals to Raspberry Pi (Derek) Raspberry Pi on robot arm sending control signals to finger servos (Connor) Servo power supply for fingers and assembly servo calibration (Harrison) 3D printed
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Table 6-5: Preliminary Cost Estimate for Alternative 4D . Table 6-6: Preliminary Cost Estimate for Alternative 5B . Table 6-7: Preliminary Cost Estimate for Alternative 5C . Table 6-8: Preliminary Cost Estimate for Alternative 5D . Table 6-9: Preliminary Cost Estimate for Alternative 7 . Table 6-10:
Certification Review GBCI will conduct a thorough technical review of the application. The PEER Certification fee includes a preliminary and final review of each prerequisite and credit. Part 1: Preliminary Review (included in certification fee) You will first submit your application for preliminary review. GBCI will check your application for completeness and compliance with PEER rating .
Approve Conceptual Design End of Concept/Architecture Phase Software Specification Review (SSR): See PDR Preliminary Design Review (PDR) Approve Performance Item Spec Approve Preliminary Design End of Requirements Phase Critical Design Review (CDR) Approve Final Design (DI Specs) End of Design Phase
1 EOC Review Unit EOC Review Unit Table of Contents LEFT RIGHT Table of Contents 1 REVIEW Intro 2 REVIEW Intro 3 REVIEW Success Starters 4 REVIEW Success Starters 5 REVIEW Success Starters 6 REVIEW Outline 7 REVIEW Outline 8 REVIEW Outline 9 Step 3: Vocab 10 Step 4: Branch Breakdown 11 Step 6 Choice 12 Step 5: Checks and Balances 13 Step 8: Vocab 14 Step 7: Constitution 15
Nebraska Department of Transportation - Roadway Design Manual May 2022 Chapter Two: Roadway Design Process Page 2-6 5.C Begin Preliminary Design The preliminary vertical and horizontal alignment is developed during Activity 5307/ 5309 including preliminary intersection and frontage road design, if applicable. The designer should
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Preliminary Treatment 2-1 1 CHAPTER 2 2 PRELIMINARY TREATMENT 3 4 Learning Objectives 5 6 This chapter examines the components of the preliminary treatment process at a . 15 List the purpose and principles of operation of comminutors and grinders; . 15 and water are removed with the screenings.
