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MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation 1
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Page 1: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

P10010: Motion Tracking Technology Evaluation 1

MSD-I Project ReviewMotion Tracking Technology Evaluation

Page 2: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

P10010: Motion Tracking Technology Evaluation2

Agenda

Current State

Budget Update

Project Plan

Risk Assessment

Individual Team Member Status

Deliverables Checklist and Online Status

Rubric Review

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P10010: Motion Tracking Technology Evaluation3

Current State

Currently on track to meet our mission objectives and cover all customer needs

Unpredictable to know whether or not sensors will “walk the walk”

All major subsystems good to goDr. Phillips gave approval to EE components

Met with Sara one week before DDR

Test Fixtures: Mostly done- exploring additional options

Shock and Impact- biggest concern at this point

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Current State.. cont

Design Activities still open:Test Fixtures:

Will meet with Lamkin-Kennard on Week 1 of Spring quarter

Need to generate ideas for shock/impact testing

Order Components: (Discuss purchase requisition form?)

Drawings and Schematics for Sensors/MCUs

Build-Test Activities Needs EE Lab Permission?

Acquisition of all items?

Page 5: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

P10010: Motion Tracking Technology Evaluation5

No. Parts Qty Description Unit Cost Net Cost Shipping Total Supplier Link

1 Sensor 2 DE-ACCM3D 35.00 70.00 2.50 72.50 Dimension Engineering Link

3 Sensor 2 LIS302DL 20.90 41.80 10.73 52.53 Robotcraft Link

4 Sensor 2 Atomic SEN-09184 IMU 6DOF 124.95 249.90 9.39 259.29 Sparkfun Electronics Link

5 Programmer Cable 2 AVR STK Programmer Dongle 12.95 25.90 0.00 25.90 Sparkfun Electronics Link

6 AVR Adapter Board 2 AVR Adapter Board 0.95 1.90 0.00 1.90 Sparkfun Electronics Link

7 Sensor 6 Flex Sensor 4.5" FLX-03 A 13.95 83.70 12.50 96.20 Images Co Link

8 Sensor 2 Ultra Thin IMU Razor 6DOF 89.95 179.90 0.00 179.90 Sparkfun Electronics Link

9 Interface Board 5 Logic Level Shifter Interface BOB-08745 1.95 9.75 0.00 9.75 Sparkfun Electronics Link

10                  

11 MCU 2 Arduino Mega MCU 49.63 99.26 8.37 107.63 Liquidware Link

12 MCU 1 Arduino Mega Shield 17.95 17.95 0.00 17.95 Sparkfun Electronics Link

13 MCU Power Supply 2 9V AC Adapter 25.95 51.90 6.95 58.85 Mouser Link

14 MCU Power Supply 2 Power Cord 2.01 4.02 0.00 4.02 Monoprice.com Link

15 MicroSD Module[1] 2 MicroSD Adapter Module + 2GB Card 27.50 55.00 10.89 65.89 Libelium Link

16 USB Cable 2 USB A-B 10 ft 1.46 2.92 2.92 5.84 Monoprice.com Link

17                  

18 Jumper Wires 2 (10) 12" M/F Jumpers 4.50 9.00 0.00 9.00 Sparkfun Electronics Link

19 90° Headers 1 (40) 90° Breakaway Headers 1.95 1.95 0.00 1.95 Sparkfun Electronics Link

20 Straight Headers 1 (40) Straight Breakaway Headers 2.50 2.50 0.00 2.50 Sparkfun Electronics Link

21 Wire 1 24 AWG / 6 - 50 ft 34.00 34.00 0.00 34.00 Altex Link

22 Solder 1 Solder 0.00 0.00 0.00 0.00 Ourselves  

23 Breadboard 1 Prototyping Breadboard 0.00 0.00 0.00 0.00 Ourselves  

[1] MicroSD Module has lead time of 3-4 weeks, all other parts in stock-1 week lead time

Total:   1005.60

Page 6: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Item Part Description Supplier Part #

Units Needed

Price Per Unit Shipping Total

Price Part

Test Method #1 P10007 (Mechanical Spine)

1 Adhesived Back Velcro McMaster-Carr9273K173 10' $12.54

per 10' $0.00 $12.54

Test Method #2 Brown Robot & Arm

2 Adhesived Back Velcro McMaster-Carr9273K173 10' $0.00

Per 10' $0.00 $0.00

Test Method #3 Goniometer Test Method

3 Goniometer Amazon.com 1 $9.74 ea $0.00 $9.74

Angle Measurement

Test Method #4 ( Simple Test Fixture)4 Aluminium Round Turntable McMaster-Carr 1544T2 1 $10.25 ea $0.00 $10.25

5 Sleeve Bearing McMaster-Carr6381K455 2 $1.75 ea $0.00 $3.50

6 Rotary Motion Precision Shaft Donated 1 $0.00 ea $0.00 $0.00 7 Aluminum Bar 1"x2"x3" Donated 1 $0.00 ea $0.00 $0.00 8 Aluminum Bar 0.52"x2" Donated 1 $0.00 ea $0.00 $0.00 9 Polished Copper L-Bracket McMaster-Carr 1564A1 6 $0.75 ea $0.00 $4.50 10 Collar Stops McMaster-Carr 9414T8 2 $0.65 ea $0.00 $1.30 11 8" Diam. Aluminum Table Top Donated 1 $0.00 ea $0.00 $0.00

12 #8 Socket Head Screw McMaster-Carr92196A269 1 $6.63

per 100 $0.00 $6.63

13 360 Degree Protractor

http://www.enasco.com/product/TB22031T TB22031

T2 $6.50 ea $9.32 $22.32

**All of the above components can be replaced with materials or scrap found on

RIT's campus/machine shop. Prior to ordering parts we will survey our resources

for any preeexisting solutions.**

Test Method #Cost

1 12.54

2 0

3 9.74

4 $48.50

Total 70.78

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Project Plan Comparison

Compare plan

Differences and causes?Main differences: due to our project’s deviation from typical MSD projects (research vs final production)

What would we do differently next time?Try to find a comparable project for benchmarking during week 1

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MSDII Project Plan

Start up on risk assessment as soon as possible

Start software development and testing soon, so as to enable system level testing

Test fixtures early

Allow for time to re-test in case of erroneous results

Test overall system power consumption

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Risk Assessment Comparison

Differences & Causes H-M-L vs. 1-2-3 Ranking Method

Addition of Total Risk column

More detailed technical risks

Sample: Sensor Risks from Concept Design Presentation vs Detailed Design Presentation:

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Risk Assessment Comparison

Concept Design Presentation

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P10010: Motion Tracking Technology Evaluation11

Risk Assessment Comparison

Detailed Design Presentation

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P10010: Motion Tracking Technology Evaluation12

Risk Assessment Comparison

Have we executed any contingency plans?Not yet

Have we added any new risks since DDR review?

Shock/Vibrations- Still unsure

P10011 Spine replaces Dr. Brown’s Arm as gold standard- with accompanying risks

Effective use of Arduino IDE (MCU/Data/Comm)

Will customer needs be met?If our components perform as advertised!

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Individual Team Members Status

What were your personal responsibilities and where are you against your plan (compare to your original plan)?

Have you utilized your plan effectively in MSD I and is your current assessment of status realistic?

Have you prepared your schedule for MSD II – is it meaningful and realistic?

What would you have done differently during the quarter (as an individual) knowing what you know now?

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James Stern, ME

ResponsibilitiesSensor Interface Lead: Limb Kinematics, Sensor Placement, Sensor Configuration.

Liaison with Human Interface Team.

Sensor Technology Assistant.

Enclosure Assistant.

Page 15: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

P10010: Motion Tracking Technology Evaluation15

James Stern, MEMSD1 Plan

Research of current sensor tech. to help Cory and Jahanavi

Test Method Research and Risks

Communication with p10011

Test Fixtures

Test Method BOM

StatusResearch has been completed, and sensors to be tested have been picked for MSD2

Test method Risks have been kept up to date

Main Test Method Plans have been discussed and picked

New test method will have to be implemented for impact testing for sensor durability (Will work hand and hand with p10011)

Constant communication has been kept with the Human Interface Team.

Test Fixture has been Designed and ready to be built

BOM for Test methods has been completed, and parts are ready to be ordered.

Page 16: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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James Stern, ME

MSD2 PlanOrder parts for Test methods

Start Building Test Fixtures

Meet with Dr. Lamkin-Kennard to see her articulated arm for another possible test method

Verify Accuracy of test fixtures with multiple tests

Start tests with sensors

Integrate sensors and microcontroller and repeat tests.

Include Human Interfaces enclosures with sensors testing

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James Stern, ME

A Look BackWould have tried harder in Circuits 1 so can get more involved with Sensors and Microcontrollers.

Would have Started notebook in beginning of MSD1 instead of catching up with notes halfway through the quarter

Group has been amazing and things get done without saying them, could not have picked a better team.

Page 18: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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David Monahan, ME

ResponsibilitiesProject Manager

Assemble & execute weekly meeting agendas

Keep track of what team needs to do on a week-to-week basis

Ensure major deliverable compliance- all bases covered?

Enclosure Lead**

Liaison with Nazareth

Sensor Interface Assistant.

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David Monahan, MEMSD1 Plan

Research & Benchmark Enclosures

Organize meeting with Nazareth & expedite communication throughout quarter

Be a effective team leaderEnsure team understands what needs to be done and is on task.

Ensure communication is facilitated within all aspects of project- members, EDGE

StatusAborted most Enclosure work after week 6 due to P10011 overlap

Refocused research/work efforts on test methods

Spontaneous meeting with Nazareth during Week 2; organized follow-up week 9

Authored Test Plan with feedback from more electrically talented teammates

Prepared Agenda in advance of each team meeting; Kept track of needed deliverables

Team compiled all deliverables & executed 2 successful presentations

Page 20: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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David Monahan, ME

MSD2 PlanStart Building Test Fixtures

Verify Accuracy of test fixtures with multiple tests

Facilitate merging of P10010/P10011 testing efforts

Concept Generation: Shock and Impact testing

Continue management of team

Continue liaison position with Nazareth

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David Monahan, ME

A Look BackClarify stance with enclosures with P10011 on day 1- rather than allowing for confusion during week 4

Modify Enclosure/Sensor interface positions

Discuss collaborative testing w/P10011 earlier Shock & Impact included in MSD1 concept generation

Found benchmark or full understanding of “research project” during week 1

Used projector starting week 1 during large group meetings

Be more of a “bad cop” when needed

Page 22: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Brian Glod, CE Responsibilities

Data LeadMicrocontroller research and selection

Interpret and filter sensor data

Convert data to desired format for storage

Design PC user interface

Sensor Interface AssistantAssist EE’s with sensor/MCU interface circuitry

Communication AssistantAssist with storage of sensor data

Assist with PC/MCU communication

Page 23: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Brian Glod, CEMSD1 Plan

Research and select adequate microcontroller for this project

Research data storage and PC/MCU communication options and requirements

Assist EE’s (Cory and Janvi) with sensor/MCU interface circuitry

Manage risks and keep Risk Assessment document up-to-date

StatusUltimately selected Arduino Mega MCU

Dr. Phillips (EE) thought this was an excellent choice

Sensor data to be stored on microSD card through Arduino add-on

PC/MCU communication through standard USB 2.0 cable

MCU has sufficient analog and digital communication buses, protocols, and ports for successful interfacing with all sensors selected by EE’s

Risk Assessment document kept up-to-date

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Brian Glod, CEMSD2 Plan

Order MCU components (before break)MCU, cables, power supplies, etc (see Electrical BOM)

Become familiar with the Arduino IDEWrite small programs for testing interrupts, ADC and DIO operations, microSD card read/write operations

Work closely with Assis in designing the MCU softwareBreak down the programming into small blocks / modules

Assign programming tasks to Assis and myself

Finalize software system design flowchart

Weekly (?) deliverables

Maintain communication with EE’s for sensor integration

Continue to keep the Risk Assessment document up-to-date

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Brian Glod, CE

A Look BackRealize this is a research project from day 1 as opposed to weeks later:

Which sensors are good for what part of the body?

What microcontrollers are small and portable, yet powerful enough to perform the necessary calculations and data storage?

This project is not meant to design an entire motion tracking system!!

Increased communication with AssisMore microcontroller software design and programming flowcharts may have optimized the MSD I planning stage

I am very impressed with how well this team works together

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Janvi Gauthaman, EE Responsibilities

Sensor Technology LeadSensor research

Sensor selection

Sensor Evaluation

Sensor review (with Professor)

Final Sensor Selection

Ordering of chosen sensors

Test plan (MSDI) and execution (MSDII) for sensors (component)

Test plan (MSDI-II) and execution (MSDII) for sensors (sub-system)

Test plan (MSDII) and execution (MSDII) for sensors (system)

Microcontroller Assistant:  Assist in all MCU/Sensor Interface Lead’s responsibilities

Documentation LeadEnsuring that all documents are on EDGE

Taking minutes during meetings, updating agenda

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Janvi Gauthaman, EEMSD1 Plan

Researched Sensors

Evaluated sensors by customer needs and specs

Sensor review (with Professor) after Week 5 and Week 9

Final Sensor Selection

Ordering of chosen sensors

StatusExtensive research on market solutions and technology solutions

Final sensors are chosen and added to BOM

Sensor Feasibility for every sensor

Consistently update risks

Manage System Design and Detailed Design review feedback and ensure action

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Janvi Gauthaman, EE

MSDII PlanAcquire devices, equipment, other necessary accessories for testing

Solder, prepare sensors for evaluation

Ensure all sensors are in full working orders

Integrate sensors with subsystem (MCU) for evaluation and testing

Integrate sensors with test fixtures and MCU (system level) for testing.

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Janvi Gauthaman, EE

A Look BackMet with Sara (Naz) directly in the beginning of the quarter a team, and gain clear understanding of her expectations

Received clear goals- we did not start/ know about testing fixtures and plans until the System Design Review

Page 30: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Cory Laudenslager , EE

ResponsibilitiesMCU/Sensor Interface Lead: Ensure all Sensor Technologies can Interface to MCU

Sensor Selection Assistant

MCU Selection Assistant

Battery Analysis

BOM Creation/Ordering Parts

Sensor Testing /Test Plan

Page 31: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Cory Laudenslager, EEMSD1 Plan

Customer Needs to Establish System Parameters

Research of Current Sensor Technology

Sensor Research and Risks

MCU Selection & Interface

Battery Analysis

Sensor/Electrical BOM

StatusCustomer Needs Established

Wide Variety of Sensor Technology has been chosen and Verified

All Sensor Interfaces to MCU Verified

Battery Analysis Completed

BOM for Sensor/MCU has been completed, and parts are ready to be ordered.

Continuing to Create Test Plans for Sensors.

Page 32: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Cory Laudenslager, EE

MSD2 PlanNOW- Order Parts for Sensors/MCU

NOW- Finish Sensor Test Plans

Assemble Sensors/Setup Test Area

Work with MEs to implement Test Fixtures into testing

Verify Accuracy/Functionality of Sensors as Well as Wiring. Work With Jahanavi for Testing Order

Integrate Sensors and Microcontroller, make sure I/O signals are distinguishable.

Page 33: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Cory Laudenslager, EE

A Look BackWould have spent more time on how the sensor technology actually works and how to find position ; Would have saved time in sensor selection.

Would have updated notebook continuously in real time instead of in scratch notebook and copying over.

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Assis Ngolo, CE Responsibilities

Communications LeadCapture and Coordinate Data (Sensor-Microcontroller)

Data Storage

Transmit Data (Microcontroller-Computer)

Select Communication Components for Microcontroller

Data AssistantAssist in microcontroller research and selection

Assis in data filtering and interpretation

Assis in data formatting

Assist in UI design

Microcontroller AssistantAssist with MCU selection

Assist with Sensor/MCU/PC communication

Page 35: MSD-I Project Review Motion Tracking Technology Evaluation P10010: Motion Tracking Technology Evaluation1.

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Assis Ngolo, CEMSD1 Plan

Research and select MCUs for design implementation

Research how we plan to interpret data

Perform risk assessment

Perform concept design research

Manage the project plan

Research data storage and PC/MCU communication options and requirements

Research interfacing solutions for Sensors => MCU => PC

StatusSelected Arduino Mega MCU as best option

Using the implemented SPI interface in the MCU

Using local storage over wireless/wired communication to PC

Risk Assessment is up-to-date

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Assis Ngolo, CEMSD2 Plan

Create a software design flowchart

Research and implement data analysis algorithms

Become familiar with the Arduino IDE

Implement software modularly to simplify testing

Maintain communication with EE’s for sensor integration

Implement system level test cases

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Assis Ngolo, CE

A Look Back

Made a more flexible schedule for team meetings

Have a better understanding of motion sensors and their capabilities/limitations

Created a well defined software design and testing process

The team is great, everyone works in sync and are always available.

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Deliverables Checklist & Online Status (5 mins max)

Customer Needs- Done

Engineering Specifications- Done

Risk Assessment- Done

Test Plan- Done

SDR & DDR Documents- Posted

Project Plan- Done

Other Deliverables??

***Are our documents easy to find on EDGE?

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Rubric Review (5 mins max)

Go over rubric elements as a group

Concerns?


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