1. Casey Dill (ME): Lead/Mechanics Arthur Connors (EE): Control System Andrew Torkelson (ISE): Test Development Dr. Kathleen Lamkin-Kennard: Guide/Sponsor

6. Electrical Concepts LabVIEW Control System Development Outputs to SolidWorks Model Outputs to Physical Prototype Control System Movement Accuracy – Position and Speed Feedback Considerations – Accommodating for Delay Outputs to Both SolidWorks and Prototype Using Same VI Component Familiarization Relay Boards, Relays, and Data Acquisitioners (DAQs)

14. All software has been installed on a computer Eli* from NI. His latest email indicates academic license may be an issue. Limit at getting SolidWorks and Labview working together set to 2 weeks, or switch to a different software package. *Eli Seidner Applications Engineer, National Instruments. eli.seidner@ni.com | (512) 683-0971

16. WeekPlanContingency 1 Start building test stand Work on getting simulation working If simulation isn't working by Friday, look for alternatives 2 Get simulation working If simulation isn't working by Friday, use a different program Make a few air muscles Buy controls stuff 3 Make a control system to test muscles Test relaysIf parts haven't arrived, refine model Run through demos If a alternative simulation program is being used, attempt demo 4 Make list of joints to test Complete test plan Work on simulation 5 Demonstrate simulation with displacementIf not done, work on simulation Working air muscles for 1 jointDebug controls

17. 6 Get forces working for simulation (I) Characterize more air muscles (I) 7 Get forces working for simulation (II) Find math models Find how to apply math 8 Develop math more Characterize more air muscles (II) 9 Apply math model to simulation If model is too complicated, use a simpler approximation 10 Calibrate forces in simulation 11 Demonstrate working simulation of air muscles Show test stand Prove math model

18. Primary Deliverables Computer simulation of common joints. Prototype that demonstrate accuracy of the simulation. Sub Deliverables Week 2: A test stand. Week 3: A working simulation software. Week 5: A simulated joint without accurate forces. Week 7: Simulated forces in simulation. Week 10: Working, accurate computer model.

19. For the next two weeks: Continue emailing and calling Eli S. (Casey and A.J.) Design the test stand (Casey and Andrew) Create a preliminary control system for the test stand (A.J.)