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Design Decisions: mechanical design

Objective

We like to select a set of sensors that would be necessary for Woodbot to solve a particular problem. Depending on sets of sensors we pick, we can do state estimations which maybe necessary for our applications.

We like to

  • Narrow down hardware design
  • Visit each option and conduct experiments
  • Conduct design engineering decisions with proper supports

This will require you to fill out highlighted parts for full credits.


Options:

  • Option 1: pointy tail
  • Option 2: circular tail
  • Option 3: no tail

Experiments:

Using last week codes, modify that so we can run the servos to do the followings:

  • back and forth for 1s
  • turning
  • spining

on different surfaces

Results

How well can each option run straight?

- your comments on how they behave

how well can each option turns?

is there any edge case for each option?

  • i.e. Option 1 flipped when....

how each options can affect sensor measurements?

  1. Lidar

    • Option 1:
    • Option 2:
    • Option 3:
  2. IMU

  • Option 1:
  • Option 2:
  • Option 3:

Uncertainties

Was there any uncertainty that we observed with hardware, but not observed in Webots or model?

Can we observe the uncertainties on-board?

Do you think we need more sensors? If so, what kind?

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Requirements

  • Navigation in an arena (2D plane)
  • A map and an initial state are given
  • Using affordable components and a microprocessor
  • Indoor

Decisions

which options are good based on the results? Are they good

My Conclusion: I go with Option

Still Unknown, Things to be analyzed and decided later

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