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

Agenda Current State Budget Update Project Plan Risk Assessment Individual Team Member Status Deliverables Checklist and Online Status Rubric Review P10010: Motion Tracking Technology Evaluation 2

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 go Dr. 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 P10010: Motion Tracking Technology Evaluation 3

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? P10010: Motion Tracking Technology Evaluation 4

5 No.PartsQtyDescriptionUnit CostNet CostShippingTotalSupplierLink 1Sensor2DE-ACCM3D Dimension EngineeringLink 3Sensor2LIS302DL RobotcraftLink 4Sensor2Atomic SEN IMU 6DOF Sparkfun ElectronicsLink 5Programmer Cable2AVR STK Programmer Dongle Sparkfun ElectronicsLink 6AVR Adapter Board Sparkfun ElectronicsLink 7Sensor6Flex Sensor 4.5" FLX-03 A Images CoLink 8Sensor2Ultra Thin IMU Razor 6DOF Sparkfun ElectronicsLink 9Interface Board5Logic Level Shifter Interface BOB Sparkfun ElectronicsLink 10 11MCU2 Arduino Mega MCU LiquidwareLink 12MCU1 Arduino Mega Shield Sparkfun ElectronicsLink 13MCU Power Supply2 9V AC Adapter MouserLink 14MCU Power Supply2 Power Cord Monoprice.comLink 15MicroSD Module [1] 2MicroSD Adapter Module + 2GB Card LibeliumLink 16USB Cable2USB A-B 10 ft Monoprice.comLink 17 18Jumper Wires2(10) 12" M/F Jumpers Sparkfun ElectronicsLink ° Headers 1 (40) 90 ° Breakaway Headers Sparkfun ElectronicsLink 20Straight Headers1 (40) Straight Breakaway Headers Sparkfun ElectronicsLink 21Wire124 AWG / ft AltexLink 22Solder Ourselves 23Breadboard1Prototyping Breadboard0.00 Ourselves [1] MicroSD Module has lead time of 3-4 weeks, all other parts in stock-1 week lead time Total:

Ite m Part DescriptionSupplier Part # Units Neede d Price Per Unit Shippin g Total Price Part Test Method #1 P10007 (Mechanical Spine) 1Adhesived Back VelcroMcMaster-Carr 9273K17 310'$12.54 per 10'$0.00$12.54 Test Method #2 Brown Robot & Arm 2Adhesived Back VelcroMcMaster-Carr 9273K17 310'$0.00 Per 10'$0.00 Test Method #3 Goniometer Test Method 3GoniometerAmazon.com 1$9.74ea$0.00$9.74 Angle Measureme nt Test Method #4 ( Simple Test Fixture) 4Aluminium Round TurntableMcMaster-Carr1544T21$10.25ea$0.00$ Sleeve BearingMcMaster-Carr 6381K45 52$1.75ea$0.00$3.50 6Rotary Motion Precision ShaftDonated 1$0.00ea$0.00 7Aluminum Bar 1"x2"x3"Donated 1$0.00ea$0.00 8Aluminum Bar 0.52"x2"Donated 1$0.00ea$0.00 9Polished Copper L-BracketMcMaster-Carr1564A16$0.75ea$0.00$ Collar StopsMcMaster-Carr9414T82$0.65ea$0.00$ " Diam. Aluminum Table TopDonated 1$0.00ea$ #8 Socket Head ScrewMcMaster-Carr 92196A2 691$6.63 per 100$0.00$ Degree Protractor o.com/product/T B22031T TB22031 T2$6.50ea$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 $48.50 Total70.78 P10010: Motion Tracking Technology Evaluation 6

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 P10010: Motion Tracking Technology Evaluation 7

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 P10010: Motion Tracking Technology Evaluation 8

Risk Assessment Comparison Differences & Causes H-M-L vs Ranking Method Addition of Total Risk column More detailed technical risks Sample: Sensor Risks from Concept Design Presentation vs Detailed Design Presentation: P10010: Motion Tracking Technology Evaluation 9

Risk Assessment Comparison Concept Design Presentation P10010: Motion Tracking Technology Evaluation 10

P10010: Motion Tracking Technology Evaluation 11 Risk Assessment Comparison Detailed Design Presentation

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! P10010: Motion Tracking Technology Evaluation 12

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? P10010: Motion Tracking Technology Evaluation 13

James Stern, ME Responsibilities Sensor Interface Lead : Limb Kinematics, Sensor Placement, Sensor Configuration. Liaison with Human Interface Team. Sensor Technology Assistant. Enclosure Assistant. 14 P10010: Motion Tracking Technology Evaluation

James Stern, ME MSD1 Plan Research of current sensor tech. to help Cory and Jahanavi Test Method Research and Risks Communication with p10011 Test Fixtures Test Method BOM Status Research 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. 15 P10010: Motion Tracking Technology Evaluation

James Stern, ME MSD2 Plan Order 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 16 P10010: Motion Tracking Technology Evaluation

James Stern, ME A Look Back Would 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. 17 P10010: Motion Tracking Technology Evaluation

David Monahan, ME Responsibilities Project 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. 18 P10010: Motion Tracking Technology Evaluation

David Monahan, ME MSD1 Plan Research & Benchmark Enclosures Organize meeting with Nazareth & expedite communication throughout quarter Be a effective team leader Ensure team understands what needs to be done and is on task. Ensure communication is facilitated within all aspects of project- members, EDGE Status Aborted 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 19 P10010: Motion Tracking Technology Evaluation

David Monahan, ME MSD2 Plan Start 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 20 P10010: Motion Tracking Technology Evaluation

David Monahan, ME A Look Back Clarify 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 21 P10010: Motion Tracking Technology Evaluation

Brian Glod, CE Responsibilities Data Lead Microcontroller research and selection Interpret and filter sensor data Convert data to desired format for storage Design PC user interface Sensor Interface Assistant Assist EE’s with sensor/MCU interface circuitry Communication Assistant Assist with storage of sensor data Assist with PC/MCU communication 22 P10010: Motion Tracking Technology Evaluation

Brian Glod, CE MSD1 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 Status Ultimately 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 23 P10010: Motion Tracking Technology Evaluation

Brian Glod, CE MSD2 Plan Order MCU components (before break) MCU, cables, power supplies, etc (see Electrical BOM) Become familiar with the Arduino IDE Write small programs for testing interrupts, ADC and DIO operations, microSD card read/write operations Work closely with Assis in designing the MCU software Break 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 24 P10010: Motion Tracking Technology Evaluation

Brian Glod, CE A Look Back Realize 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 Assis More 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 25 P10010: Motion Tracking Technology Evaluation

Janvi Gauthaman, EE Responsibilities Sensor Technology Lead Sensor 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 Lead Ensuring that all documents are on EDGE Taking minutes during meetings, updating agenda P10010: Motion Tracking Technology Evaluation 26

Janvi Gauthaman, EE MSD1 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 Status Extensive 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 P10010: Motion Tracking Technology Evaluation 27

Janvi Gauthaman, EE MSDII Plan Acquire 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. P10010: Motion Tracking Technology Evaluation 28

Janvi Gauthaman, EE A Look Back Met 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 P10010: Motion Tracking Technology Evaluation 29

Cory Laudenslager, EE Responsibilities MCU/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 30 P10010: Motion Tracking Technology Evaluation

Cory Laudenslager, EE MSD1 Plan Customer Needs to Establish System Parameters Research of Current Sensor Technology Sensor Research and Risks MCU Selection & Interface Battery Analysis Sensor/Electrical BOM Status Customer 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. 31 P10010: Motion Tracking Technology Evaluation

Cory Laudenslager, EE MSD2 Plan NOW- 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. 32 P10010: Motion Tracking Technology Evaluation

Cory Laudenslager, EE A Look Back Would 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. 33 P10010: Motion Tracking Technology Evaluation

Assis Ngolo, CE Responsibilities Communications Lead Capture and Coordinate Data (Sensor-Microcontroller) Data Storage Transmit Data (Microcontroller-Computer) Select Communication Components for Microcontroller Data Assistant Assist in microcontroller research and selection Assis in data filtering and interpretation Assis in data formatting Assist in UI design Microcontroller Assistant Assist with MCU selection Assist with Sensor/MCU/PC communication 34 P10010: Motion Tracking Technology Evaluation

Assis Ngolo, CE MSD1 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 Status Selected 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 35 P10010: Motion Tracking Technology Evaluation

Assis Ngolo, CE MSD2 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 36 P10010: Motion Tracking Technology Evaluation

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. 37 P10010: Motion Tracking Technology Evaluation

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? P10010: Motion Tracking Technology Evaluation 38

Rubric Review (5 mins max) Go over rubric elements as a group Concerns? P10010: Motion Tracking Technology Evaluation 39