Spring 2018 AT-ST Final Code

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By: Samuel K Yoo (Electronics & Control – Software)

Verified By: Intiser Kabir (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Introduction

This is the final code for the AT-ST for Spring of 2018. There are many problems with the code, not only with missing sections, but there is also no test for the other values. The robot can walk forward and turn, however, the code to test for the maze has not been done along with missing parts.  

Code

Figure 1: Final Code Screenshot

Figure 2: Continue

Figure 3: Continue

Explanation

This code has a lot of missing code. The biggest code that is missing is from the void loop, which uses the whichway code and the Bluetooth integration. For the future electronic and control engineer of the AT-ST read the 3DoT manual ahead of time. The coding for the bluetooth is extremely difficult. The lab sequence is not that difficult to understand however the bluetooth is. Another advice is to test the robot as quickly as possible to find the errors both in the program and physical movements. The walking program should work immediately, however, a physical error with one of the legs cause a lot of hardships. The code forward only works with the spring 2018 model. The program takes one small step with the messed up leg and four to five steps with the good leg. This will cause it to steer toward a direction, however, it still moves forward. The whichway code should be pretty much be the same, however, add the hitwall from lab 5 of the training sequence.

Reference

  1. http://web.csulb.edu/~hill/ee400d/Technical%20Training%20Series/3DoT/3DoT%20Training%20Documentation.pdf

Spring 2018 AT-ST Fritzing Diagram

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By: Shweta Hebbalkar (Electronics and Controls – Hardware)

Verified By: Intiser Kabir (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Introduction

Fritzing is a tool for the student to create clean and professional images of electronics projects. Building a virtual circuit in breadboard view, using Fritzing, gives a better representation of circuit connection close to the real circuit. Fritzing introduces a user-friendly interface for a quick and easy workflow. A user can build and edit virtual electronic circuits, schematics, or PCBs. The concept is drag and drop; the user can drag and drop components from the part library to the project window. Parts are connected using the breadboard and wires. Wires are created instantly by clicking and dragging a part’s connector. Fritzing software made our life so easy because we can change the color of the wires and make the wires curve or bend them. If I click and hold on the connector, Fritzing will highlight all equipotential connectors. I can also select the schematic and PCB tabs to watch or edit my circuit.

Body

I found all components from the default library; if I could see any parts in the library, I can look in Fritzing official website or Google. Some of the parts I could not find, but lucky in Fritzing, we can make our custom parts, by opening the inspector then selecting the component whose properties that we want to change. Then we complete the circuit by connecting all the connection.

Figure 1: Fritzing Diagram

In this figure, I have the 3-DoT board, gyroscope, I2Cexpander, two UV sensor, two IR LEDs, Servo, Ultrasonic, two motors, actually, we are using the micrometer with shaft encoder and 3 volts.

Conclusion

This is a sophisticated tool to use to create a virtual breadboard, and it will help us build it physically. If we miss a connection, then we can always look back and fix any problem.

Spring 2018: BiPed Custom PCB Layout/Design & Modify Micro FOBO for 3DoT

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By: Jorge Hernandez (Electronics & Control Engineer)

Verified By: Miguel Gonzalez (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

The PCB layout for Micro FOBO was modified to fit the 3DoT which will be provided by Professor Gary Hill. The way we modify Micro FOBO for a 3DoT board is by having the blank 3DoT layout template, which was kindly provided to us, and implement the pinouts in our board layout design. Once we have our template where the pins are ready to mount to the 3 DoT directly, we can start routing and building the PCB for Micro FOBO.

Given

Fig.1 3DoT 6.41 Shield

This is the blank pin headers for the 3DoT which was created by Gary Hill and Fabian Suske for the Spring 2018 semester.

Fig.2 3DoT Shield Pins

Board layout for 3 DoT pin header above with the correct dimensions, will be used as a foundation to build the PCB for Micro FOBO. This board layout was also provided by Gary Hill and Fabian Suske.

Non approved layouts

Fig.3 First Custom Shield V1

When I first started routing, it was a total mess to be honest. I had all the addresses for the servo expander & Multiplexer on the board layout which just took up a lot of space. I was also using the wrong Multiplexer as it was an 8 Channel Multiplexer which was just a huge waste of space as I only needed a 2-channel multiplexer. Another mistake I had was having everything connected to my external battery source ‘VBATT’ which is not necessary because everything but the Servo Expander operates at 3.3V just like the 3DoT. As one can see I was using the 4 pin header for the Ultrasonic(HC-SR04) which only operates at 5 V. Now using a SEEED ultrasonic, which operates at 3.3V and only has 3 pins, eliminates a need for a booster shield.  I also learned about DRC, which is “Design rule checking or check(s) (DRC). This is the area of electronic design automation that determines whether the physical layout of a particular chip layout satisfies a series of recommended parameters called “design rules” and my first board layout had many errors as seen below.

Fig.4 DRC Errors

Second draft

Fig.5 Custom Shield V2

Having 90-degree bends are not allowed and is a reason this board layout did not get approved. Another reason is how some wires were not routed to its simplest form, therefore the routing needed to be more direct. Since the plan was to mount our PCB on top of the 3DoT, everything below the orange line will interfere with the battery which will need to be moved to accommodate this issue. Also, the size of this vias needs to be increased as they are too tiny. The power routing width needs to be increased to satisfy the current running through the power routings.

Final approved Layout

Fig.6 Custom Shield Final Version

The reason this board is approved

  1. No 90-degree routes
  2. Direct/clean wiring
  3. Larger vias
  4. No battery interference
  5. Power wiring widths are larger
  6. Ratsnest and DRC were satisfied

Fig.7 DRC-All Clear

Finished routed board

Fig.8 Custom PCB Eagle

Custom Parts

The PCA9540BDPN 2-channel multiplexer default part from Digikey gave us overlapping pinouts which didn’t go through OSHParks DRC. Therefore I had to go directly to its library and move the pins apart in order to use this part.

Before the modified PCA9540BDPN chip

Fig.9 Before-PCA9540BDPN Chip

It is obvious changes needed to be done to prevent overlapping

After the modified  PCA9540BDPN chip

Fig.10 After-PCA9540BDPN Chip

Modified pins and DRC approved.

Conclusion

My Micro FOBO board layout consists of 2 UV headers, a Servo Expander, 8 micro servo pin headers, a coupling capacitor, resistors, LED pin headers, ultrasonic pin headers, and a 2 channel multiplexer. The exact specifications of these components can be found at Micro FOBO Electronics Component BOM blog post. The final PCB board layout is 39.958 x 27.941 mm which fits perfectly on top of the 3 DoT which is 60×74 mm which overall fits within Micro FOBO’s head which measures 60×74 mm.

References

  1. https://www.arxterra.com/spring-2016-rofi-pcb-layout/
  2. https://en.wikipedia.org/wiki/Design_rule_checking

 

 

Spring 2018: BiPed (Micro FOBO) System Block Diagram

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By: Jorge Hernandez (Electronics & Control Engineer)

Verified By: Miguel Gonzalez (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

System Block Diagram

New and improved System Block Diagram for Micro Fobo, which shows in a general diagram, how many pins will be needed for each component and how they connect to each other.  As seen, we are using a total of 5 sensors, a custom PCB, Bluetooth module, external battery and of course a Pro Micro. This helps a lot for our E&C engineer when it comes to PCB designing as they need to plan accordingly.

Fig.1 Micro FOBO System Block Diagram

The sensors subsystem (custom PCB) will be in charge of telling Micro FOBO’s next action.  When the IR sensor on the UV breakout board sense a change in IR reading, this will alert the Pro Micro which ultimately leads to the Actuators subsystem (Micro Servos) to adapt accordingly based on our code.  The same process will occur when the Ultrasonic sensor senses an object or a wall ahead of Micro Fobo. Bluetooth is considered a sensor because it collects inputs from a source, in this case, an Android phone then sends that data to the Pro Micro thus telling Micro FOBO what to do based on our code.  The communication subsystem (Bluetooth module) is connected to the Pro Micro because through Bluetooth the Arduino will obtain information on the action it will take. The Power subsystem consists of the battery which has been tested for our overall system and a regulator to ensure the safety of the system and the user(s).  Our Actuator subsystem is our output, Micro FOBO’s desired movement, based on our sensors and code

References

  1. https://www.arxterra.com/spring-2016-rofi-preliminary-design-documentation/#System_Block_Diagram

Spring 2018: BiPed System Schematics (EagleCAD)

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By: Jorge Hernandez (Electronics & Control Engineer)

Verified By: Miguel Gonzalez (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Introduction

After the Fritzing design was completed, an EagleCAD schematic has to be designed to create a PCB in order to move the project forward. EagleCAD is a software program that allows the user to place components on the board, and wire all the connections properly. Pins such as I2C pins can be connected across the network

Here I explain the mistakes I have made and my final schematic for Micro FOBO which has been approved by Gary Hill and Fabian Suske.

Requirements

Level 1:

L1-18: Micro FOBO shall utilize a printable Circuit Board (PCB)

L1-7: Micro FOBO will utilize a 3DoT board (PCB will be mounted on 3DoT board)

Previous Schematics

Fig.1 Previous Schematics

 

 

For my first rough draft at Micro FOBO’s Eagle schematic, I did not implement the 3 DoT shield pin header which was a huge mistake. The reason this is a mistake is that if I did order this board, it would become a floating board which will require extra wires to connect my custom PCB to the 3DoT. As one can see, I also included the 12C TCA9548A Multiplexer, as the Micro FOBO will use 2 UV sensors which require different addresses to read values from each UV sensor. Using the TCA9548A was a mistake because it takes too much space, as it has the ability for 8 different I2C sensors and all we needed was 2. Another mistake which was making pinouts for the HC-SR04 ultrasonic, as that specific ultrasonic required 5V to operate which would have required a booster shield. A trade study for ultrasonics was done and found that the SEN136B5B ultrasonic sensor operates at 3.3V which eliminates a need for a booster shield as all the other components (UV, LED’s, Multiplexer, PCA  Servo Expander) run at 3.3V or less(limiter resistor required).

 

Fig.2 Another Schematic (not approved)

Final Schematic Ordered

 

Fig.3 Final Schematic

Instead of individual resistors that protect the PWM of the Servo Expander, Hill suggested a resistor package for routing simplicity and a cleaner look (SO16 package). Another major change was to simply ground all address (A0-A5) on the Servo Expander to use the default address on that chip. 3DoT pin headers were introduced which will make this PCB sit on the 3Dot and not have loose wiring connections between these two boards. Voltage declarations were updated as everything operates at 3.3V other than the 8 Micro Servos, which will operate together, require an outside power source and therefore are connected to VBATT. Changing our multiplexer to the PCA9540BDPN was critical, as it is a 2 channel multiplexer which will save space on the PCB, compared to the 8 channel multiplexer from the previous schematics.

Conclusion

The completed Fritzing diagram and the Eagle schematic move our project closer to mission success. We now have a concrete version of our schematic and how each component is connected to each other.  This is then sent to the Manufacturing Engineer and Project Manager to be approved. Once approved, the board layout (routing) will be completed.

References

  1. https://www.arxterra.com/fall-2016-velociraptor-eaglecad-schematic/
  2. https://www.arxterra.com/spring-2016-rofi-pcb-design-alternative-arduinos-and-custom-eagle-components/

 

Spring 2018: Biped Lessons Learned

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Written By: Miguel Gonzalez (PM and Manufacturing)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

EE 400D is a very fast pace class in which students are expected to learn new material on their own to succeed with their group project. At first, everything may become stressful with all the new information given to you about how the class structure is set up. Hopefully, you were instructed to look at previous student blog posts to get an understanding of what is expected of you. It is important you take the researching phase of the semester seriously. The success of your project is highly dependent on you and your team in understanding how to setup your semester schedule base on the work you need to do.

This blog post covers all the struggles my team and I had throughout the semester and provide advice on how to prevent your team from encountering issues with your own project. I urge the reader to look at other groups “lessons learned” blog post as some problems students encounter are not robot dependent and some may have other solutions/strategies on how they solved them or prevent them.

Hardships that faced the Micro FOBO group

  • Our group was small. Since the start of the semester, it became evident that our class had fewer students than other semesters. For this reason, our class had only two group projects each of which had three students working on them.  With only three members on the team, the PM had to do the Design and Manufactures job which doubled the workload.
  • We struggled to find the right project to work on. I suggest choosing something that you are passionate about. It wasn’t until I designed the Micro FOBO to emulate 1950s tin toys that I got passionate about the project. What I’m trying to say is that you need to make the project related to you and your teammates add some personal touches. Only then you will find yourself doing work on the project without thinking of it as work
  • 3DoT Board was never given to use to use. Professor Hill worked hard on version 6 of the board but unfortunately, the board encountered problems that delayed the manufacturing of the board.

Things I wish I did not do

  • Spend to much time on the PCB board that did not work
  • Start team meetings without having an agenda/plan made beforehand
  • Do not spend all semester without a single visit you the customer’s office hours. I recommend updating the customer on your project at least twice a month.
  • Do not miss any days of class and try to be on time. Pop quizzes often occur the days you are absent

Things I wish I did do

  • Talked to my teammates about their individual roles and make sure they know what tasks they are responsible for.
  • Set strict timelines for the group
  • Read the class lectures a week in advance and ask questions about any concerns I may have had about the lecture the professor as soon I saw him.
  • I wish I emailed the TA and the Professor more about questions I had. They typically respond quickly to your emails.
  • Update the Customer with your process as much as you can. The customer will always try to help you out with any issues or struggles your team may be having. It will also prevent your team from doing things that the customer does not want and can save you a lot of time in the future.
  • Become acquainted with the QA engineer and make sure he/she knows about any changes or updates your team has on the process of your project.

Things I wish I learned/knew

  • Task Matrix was initially hard to understand and its benefits were overlooked
  • Download and learn SolidWorks early in the semester
  • You can always get waivers/approval of things that violate the requirements if you ask the customer. The customer can be understanding of special situations if valid reasonings are provided.
  • Take a deep dive in the resources available in professor Hill’s class website. There are many hidden outlines and resources that provide great value to the success of your project. But be cautious of any outdated material as Professor Hill tends to change things from semester to semester. If you are not sure the material is relevant, just ask.

Advice for future generations

  • Choose your job positions wisely an understand what the job entails. Software engineers typically have a large workload, I advise them to start work early and to ask for help.
  • Make sure the team reads past blogs as they are very useful. You should do heavy research on Arxterra, Professor Hill’s class website, and other sites early in the semester but I suggest you constantly look back on past project blogs whenever you need clarification on task or need examples. Tip: look at the score the blog posts received to differentiate the good post from the bad.
  • Get a prototype working ASAP. You and your team need to be able to visualize the tasks needed to make your robot work by the end of the semester. You can simply try to get the pass semester’s robot to work and begin revisions from there.
  • Plan to make many versions of your robot. You will never be able to design your robot perfectly at the start. That’s okay, just try to 3D print the model and assemble it together. Then you can begin to understand what things you need to revise to make it work. Our group made 3 full 3D printed iterations of the Micro FOBO with some parts having 6 different versions.
  • Make the meeting minutes as soon as you finish having a team meeting. I highly suggest spending 20 minutes after each meeting writing down what your team did for that day. Make a spot on the meeting minutes for “Homework/Things to do before the next meeting section” and assign group members with the task that they should work on in their own time and before the next meeting. Make a Google Drive Folder with all meeting minutes and share them with all your group members and the customer so they can remain updated with any progress your team is making. Look at our group’s meeting minutes folder as an example of how you can make your own.
  • When doing your Preliminary Design Presentations make sure you follow the Outline provided on the class website. Memorize your sections in your presentation. Do not read from the slides and be prepared to answer questions from the customer.

References

  1. https://www.arxterra.com/spring-2018-micro-fobo-mechanical-drawings/#Part_8_Head
  2. https://drive.google.com/drive/folders/1bzvTSt94itM0pMu-n45xOdocnJpQBtAC

Spring 2018 AT-ST Assembly of Custom PCB

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By: Shweta Hebalkar (Electronics and Controls – Hardware)

Verified By: Intiser Kabir (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Introduction

A custom PCB is used for less wires, clean look, and being neat as possible. This is a example of the small custom PCB made and manufactured by oshpark. This PCB has 13 surface mount components and seven through-hole parts for integration and testing of it. Customer wants us to build the PCB, implement, and integrate it into the three-dot board, which is another custom PCB (microcontroller). From that, create the design in eagle software and have him review it for approval.

 

Body

In this image, the surface mount is through the hole as per our requirement. For the project, we are using two UV sensors and two shaft encoders. As well as the gyroscope and the I2C expander for the UV sensor. The journey of getting it printed was rather quick because we had to pay extra for the service and shipping so we could get it on time.

Figure 1: Blank PCB board before any short of soldering take place.

This image shows the surface mount placed on the board. It was my very first time having to surface mount components, but I got lucky and my division manager helped me. Although I could have first assembled all the parts, I was waiting for one to arrive, so I did that later on with a heat gun. I never used a heat gun before, but I looked at a few youtube videos to get a better picture. I then used a heat gun and attached my last surface mount which was the I2C expander.

Figure 2: PCB on the pick and place machine. Having all components needed on it.

This picture shows the complete version of the board where I soldered the rest of the male headers. After that, I used a multimeter’s continuity test to see if there is a short circuit. Afterward, I mounted this on the new version of the three dot board.

Figure 3: PCB with all components on.

Conclusion


 Overall I learned a lot in this class, like time management, keep working till you get the answer, and communicate with others. The PCB works fine and all that is left is to integrate it to the AT-ST robot!

Spring 2018 AT-ST Final Blog

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By: Intiser Kabir (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

By Intiser Kabir (Project Manager)

The purpose of this document is to provide a closure to the Spring 2018 AT-ST Project. This document will provide linkages to all aspects of the project for a future generation, including our recommendations, what we learned, and what we should have learned beforehand. We will also provide what went wrong with our project as well. It is recommended to use the table of contents to jump to sections if needed.

Project Members:

Intiser Kabir (Project Manager)

Danny Pham (Manufacturing and Design)

Shweta Hebbalkar (Electronics and Controls – Hardware)

Samuel Yoo (Electronics and Controls – Software)

Joseph Cho (Missions, System, and Testing)

Executive Summary

By: Intiser Kabir (Project Manager)

Mission Objective

The AT-ST Walker BiPed was inspired by Spring 2017 Velociraptor which uses the Theo Jansen’s leg design as the walking feature. We ended up having to choose this design from the negotiations made by both the customer and the Robot Company project teams. While our robot is a direct spin-off of the Velociraptor, we are incorporating a lot of their designs in order to not be mistaken as the BiPed team within the Robot Company. The AT-ST Walker BiPed should be able to go through both S’18 Project and Mission Objectives and EE400D S’18 Project and Mission Objectives documents.

Missions Objective: Source: https://docs.google.com/document/d/1kwObe9HkGBeCjMYAETA5GiChyxhY1o6bpcmhWKbNFv8/edit?ts=5aa836cb#heading=h.m8d2ovwute3k

Key Features

Shaft Encoders

As a way of controlling the motors moving at different speed as well as helping our AT-ST robot to walk and turn. The Shaft Encoder is used to help see our motor’s movement as our AT-ST walks forward.

Ultrasonic Sensor

As a way of avoidance control, the Ultrasonic Sensor is used to help the AT-ST avoid getting into any sort of collision when navigating through the maze.

UV Sensor

As a method for line following, the AT-ST use 2 UV Sensors and 2 UV lights to pick up UV color as it navigates through the maze.

Theo Jansen Leg

The method we are using for walking was inspired by the Dutch artist Theo Jansen. He made robots powered by wind as it walks around. We use his method to create our legs to get the same method.

Micro Motor

To control the leg movement we decided to use Micro Motors since it consumes less current and is compatible with the Shaft Encoders

Project Requirements

The Level 1 and Level 2 requirements follow both the S’18 Project and Mission Objectives and EE400D S’18 Project and Mission Objectives documents. Also what our team is hoping to accomplish by the deadline May 15. Level 1 is for general requirements that the AT-ST is hoping to achieve. Level 2 requirements go down to specific requirements for each member hoping to accomplish.

Level 1 Requirements

  1. AT-ST shall walk on a level surface
  2. AT-ST shall use Theo Jansen leg design
  3. AT-ST shall look like an AT-ST Walker from Star Wars
  4. AT-ST shall turn left, right or turn around
  5. AT-ST shall support its own weight
  6. AT-ST shall not exceed pass the size of 6’’x 6’’
  7. AT-ST shall not walk through walls
  8. AT-ST shall walk straight
  9. AT-ST should walk backward
  10. AT-ST should have a dynamic walk
  11. AT-ST should jump.
  12. AT-ST shall not exceed the budget of $250

Level 2 Sub – MST Requirements

  1. AT-ST shall use Gyro to obtain information for calculating the center of gravity.
  2. The 3DoT Board shall receive commands from the Arxterra app via Bluetooth Transceiver. It will decode and transmit data to servos, PCB and other components of the robot.
  3. The power source shall be able to fit inside our robot and must be integrated into the AT-ST such that it doesn’t conflict with the functionality of the robot.

Level 2 Sub – Electronic Requirements

  1. AT-ST shall use 2 DC Motor to move the legs (1 per leg).
  2. AT-ST shall use a Servo Motor to adjust the center of gravity of the robot so it can turn
  3. The Battery’s duration shall last up to an hour.
  4. AT-ST shall use 2 shaft encoder to keep track of the leg motion
  5. AT-ST shall utilize 2 Lithium Ion Battery – 2Ah for its power supply.
  6. AT-ST shall use an ultrasonic sensor to sense other robots within a 0.5-meter radius
  7. AT-ST shall use UV sensor to navigate through the maze.

Level 2 Sub – Manufacturing Requirements

  1. AT-ST shall have a total weight of 600 g and weight will be properly distributed to the body and legs to support its own weight while walking.
  2. AT-ST shall not exceed dimensions of 6” x 6” in order to fit in the maze and walk and properly turn without hitting the walls in the maze.
  3. AT-ST shall have its body 3D printed (ABS)
  4. AT-ST shall have legs 3D printed (ABS)

Reference:

  1. Verification Test Plan: https://www.arxterra.com/at-st-verification-test-plan/
  2. Preliminary Blog: linked once Published
  3. L1 & L2 Blog: https://www.arxterra.com/spring-2018-at-st-project-specific-requirements-and-objective-l1l2/
  4. Spring 2017 Velociraptor: https://www.arxterra.com/spring-2017-velociraptor-final-project-summary/
  5. https://www.arxterra.com/spring-2017-velociraptor-preliminary-design-documentation/
  6. Missions Objective: Source: https://docs.google.com/document/d/1kwObe9HkGBeCjMYAETA5GiChyxhY1o6bpcmhWKbNFv8/edit?ts=5aa836cb#heading=h.m8d2ovwute3k

System Design

System Block Diagram

By: Joseph Cho (Mission Systems and Testing)

Figure 1: System Block Diagram

The System block diagram above for AT-ST help visualize the system of the AT-ST.  The 3DoT board uses ATmega32U4 as the microcontroller. The 3DoT board consists of a microcontroller, Bluetooth transceiver,  servo header and dual motor driver. The 3DoT board (v6) will also be connected to the servos, motors and main custom PCB. PCB1 will be the master PCB that routes all input and output for the sensors. PCB 2 and PCB 3 are used for UV sensors which will be connected to the I2C expander on PCB 1. Bluetooth transceiver will connect to a mobile device using the Arxterra app via Bluetooth.

To read about it,

Blog post: https://www.arxterra.com/at-st-system-block-diagram/

Interface Matrix

By: Joseph Cho

Figure 2: 3DoT Interface Matrix

Figure 3: PCB 1 Interface Matrix

Figure 4: Custom PCB #2

Figure 5: Custom PCB #3

The interface matrix above shows the allocations of the components to the 3DoT board. List of connections to PCB1: ultrasonic sensor, gyroscope, shaft encoder 1, shaft encoder 2, PCB2 and PCB3.

On PCB1, there will be an I2C expander for the two UV sensors that share the same I2C address (0x60). The gyroscope has I2C address of 0x68 or 0x69, so it will not conflict with the UV sensor.  PCB2 and PCB3 will be connected to PCB1 to utilize the I2C expander.

List of connections that are not shown in the interface matrix: servo header connecting to two servos and the motor driver connecting to two motors. The figure below shows an older version of the 3DoT board that shows the I/O headers. The new version of the 3DoT board has the motor driver, Bluetooth, and servo headers integrated internally, so they are not listed on the interface matrix.

To Read More: https://www.arxterra.com/at-st_interface_matrix/

Resource Reports

By Joseph Cho (Missions, System and Testing)

The resource report contains three parts: Mass report, power report, and cost report). These reports will be covering the resources’ mass, power, and cost. An estimate of the total mass will be shown on the mass report. For power report, the current values were taken from previous projects’ blog posts as reference. Lastly, cost report will show that the AT-ST project is within the budget.

Power Budget

Figure 6, Power Report

To Read more about Power Report: https://www.arxterra.com/at-st-resource-reports-mass-power-and-cost/

Power Budget: https://www.arxterra.com/at-st-power-budget/

Mass Report

Figure 7: Mass Report

To Read More: https://www.arxterra.com/at-st-mass-report/

Cost Report

Figure 8: Cost Report

Figure 9: Extra Cost (included in the Cost Report)

To Read more Cost Report: https://www.arxterra.com/at-st-resource-reports-mass-power-and-cost/

Preliminary Blog to see old report: Link will be provided when Published

Manufacturing Design

By: Danny Pham (Manufacturing and Design)

Mechanical Drawing

For our robot to walk and turn successfully, we will be designing elements of the robot that will be able to balance itself and move smoothly. The AT-ST walker design will incorporate parts of the velociraptor and biped design from previous semesters. The AT-ST will also incorporate dc motors instead of servos, so we switched out from our previous Titrus III leg design. In our case, our robot designs will be using the Theo Jansen leg design and split leg function that the previous 2017 Spring velociraptor project used.

Initial Design – Mechanical Drawing

Figure 10, 1st preliminary concept drawing.

Figure 11, Theo Jansen leg design

Figure 12, Measurement Parts

Figure 13: Mechanical design of AT-ST

To Read More: https://www.arxterra.com/spring-2018-at-st-mechanical-drawings/

Preliminary Prototype

By: Danny Pham (Manufacturing and Design)

 

Figure 14: Preliminary Model of AT-ST

This is our first model that incorporated the Theo Jansen legs and split leg mechanism. I used a box for the body and implemented door hinges on the side that would act as the split leg mechanism that turns the legs. There are servos inside the box that are connected to these panels, and the servos would move the panel in and out to turn the legs. The DC motors are planted on the other side of the panels inside the box, and the motor is connected directly to the Theo Jansen leg. The motor rotates the leg and creates the walking motion for the robot.

To Read More: https://www.arxterra.com/at-st-preliminary-model/

Rapid Prototyping

Figure 15: These are the components we printed that will be put together to build the legs of the robot.

We printed the pieces with PLA so the printed components are brittle and easy to break. We had to replace these with new reprints and increased the number of layers and density so that the components weren’t as easy to break when putting the bot together.

Figure 16: Rotation Shaft

First print of the rotating shaft. It is a complex piece to print because of alternating circles and different sizes throughout the shaft. It was also very easy to snap because we printed it vertically.

To read more: https://www.arxterra.com/spring-2018-at-st-rapid-prototyping/

Cable Tree Diagram

By: Danny Pham (Manufacturing and Design) and Samuel Yoo (Electronics and Control – Software)

The cabling of this diagram contains the servo, ultrasonic sensor, and the dc micro motors. All of the cable used to connect the components were ribbon cable. These cables would make the cabling look cleaner compared to lose wires.

Figure 17: Cable Tree

To Read More: https://www.arxterra.com/spring-2018-at-st-cable-tree/

Final Prototype

Figure 18: Final Model

There are a few things I would fix for this model. Because there are gaps between components in the model, it would be nice to hide some of the wires with panels that covered these gaps. I would also fix some of the screw holes for the model. In Solidworks, it is easy to reach these holes to put screws in, but for the actual model, it can be impossible to reach. Finally, I would adjust some holes in the box. When you 3D print the part, the 3D printing can deform the part so that your dimensions for size and holes are off. We had to sand down the parts to fix that. The issue for this type of design is that these components were not meant to be 3D printed. The design worked as intended but could be improved on. A solution to this is to redesign each component so that it is held together by screws instead of the connections and edges already on the kit components. Redesigning the components to basic connector shapes and using more screws to hold each part together will allow for easier 3D printing but maintaining the function of this design.

To Read More: https://www.arxterra.com/spring-2018-at-st-final-model/

3D Printing

Figure 18: Print times

The Actual print time without the laser printable parts was 5 hours and 56 minutes. This is within the 6 hour project allocation for the 3D printing time.

To Read More: https://www.arxterra.com/at-st-3d-print-time/

PCB Design

By Shweta Hebbalkar (Electronics and Control – Hardware)

Custom PCB

Figure 19: Eagle Schemtic

Figure 20: Finalized and approved board

For the AT-ST project, one of our goals is to create custom PCB using Eagle software. This software allows the user to generate PCB layouts, in order to use the Eagle software, I need to learn how to use the software. With lack of experience using the Eagle software previously, it took me a week to two weeks to learn the general concept. So the overview of the concepts is learning a PCB, also it is most common named “printed wiring board” or “printed wiring cards”. So it is a board that has lines and pads that connect various points together.

 

To Read More: https://www.arxterra.com/at-st-custom-pcb-layout-design/

Final Assembly

The custom PCB is for us to use less wire and clean and neat as possible and this the example of the small custom PCB made and manufactured by osh park. In this PCB has 13 surface mount component and seven through-hole parts l integration and testing of it. Customer wants us to build the PCB and implemented and integrated into the three-dot board, which is another custom PCB (microcontroller). From that Created the design in eagle software and had him to review it for approval.

Figure 21, PCB with all components on.

To Read More: https://www.arxterra.com/spring-2018-at-st-assembly-of-custom-pcb/

Fritzing Diagram

Figure 22: Fritzing Diagram

In this Figure 22, we have the 3-dot board, gyroscope, i2cexpander, two UV sensors, two IR leds, Servo, Ultrasonic, two motors, but actual we are using the micrometer with shaft encoder and 3 volts.

Old Fritzing Diagram: Preliminary Blog will be linked when published

To Read More: https://www.arxterra.com/spring-2018-at-st-fritzing-diagram/

Software

By: Samuel Yoo (Electronics and Controls – Software)

Walk Code

During the creation of AT-ST, this is a program that allows AT-ST to walk. Note that this program is used for the current model and might need to be updated later on. The code is very straightforward as it only uses the motor and control the speed. There are commented code for the servo to make it shift the bots weight.

To Read More: https://www.arxterra.com/spring-2018-at-st-walk-code/

Whichway Code

In this code we are creating a which way sub routine. There are two methods of doing this code one which is the switch case decision. The other method is the index method which saves a huge amount of coding. The method used for the AT-ST is the index method.

To Read More: https://www.arxterra.com/spring-2018-at-st-which-way/

Line Following

For the robot to follow a line there must be two sensors in front of the robot. These sensors must be left and right of the line. The first reading from the sensor should be white or zero because it does not touch the line. Once the sensor touches the line the robot should move away from the line.

To Read More: https://www.arxterra.com/at-st-line-follower-code/

Turning

The turning part of the code relies only on the motor speed and direction. One of the motor speed has to be lower for the bot to turn. The turn is a bit wide however it will turn in the direction of the leg that slow down. The direction could also allow a pivot turn which in that case the motor must go the same direction.

To Read More: https://www.arxterra.com/at-st-turning-code/

Servo Control

The servo is controlled is set on a delay to move back and forth. This delay need to be in sync with the leg moving forward to replicate the Theo Jansen biped. There also need to be a heavy enough weight to move the center mass, however it can’t be too heavy to lose the balance of the biped.

Ultrasonic Sensor code

This code is helps detect objects in front of the robot. Once there something in front of the robot the code changes the path in the maze to avoid the object.

UV Sensor Code

The code here is to detect the line. The sensor also need a UV light, or any led that would result in finding the line. This led and sensor must be tested before line coding.

Shaft Encoder Code

This code allows the user to know where the shaft is located as the motor spins. The location of the shaft is important this can determine how robot would move forwards. With enough testing the values from the shaft encoder can have precise movement with correct speeds.

Custom Command Code for Arxterra

This code aids in controlling the robot movement through the app. Once the code on the app goes to the 3 dot board it would be able move.

Final Code & Calibration

At the end of the day the robot should be able to walk through a maze without falling down. It should be able to turn and detect robots in front of it. The motors might need to be set on differents speed to move straight because they are different.

To Read More: https://www.arxterra.com/spring-2018-at-st-final-code/

Verification Plan

By: Joseph Cho (Mission, Systems, and Testing)

Verification test plan is used to verify our L1 and L2 requirements through analysis, inspection, demonstration, and/or testing. The L1 and L2 requirements are listed in the spreadsheet below. The test plans will be generated from the spreadsheet. Few of L1 and L2 requirements have been reworded by MST.

Figure 24: Verification Test Matrix Continued

Figure 25: Verification Test Matrix Continued

To Read More: https://www.arxterra.com/at-st-verification-test-plan/

AT-ST Verification Matrix and Test Plans: https://docs.google.com/spreadsheets/d/1HHaQliwvLYbqErqJi2AVOlqGEzNX7grKOYJ2CBUFQ7M/edit#gid=0

AT-ST L1 and L2 requirements:

https://docs.google.com/document/d/1xd6XmBhFJmCM-EjkpJS05NfXEHCaKcGz9SlAz1I7_4M/edit?usp=sharing

AT-ST Set and User Guide

By Intiser Kabir (Project Manager)

Assembly

The assembly of the robot take around an hour to physically build the kit. First part that need to be created are the two legs. Then the next step is to get the shaft for each legs. After finishing the legs connect the whole body together and connect the pieces from the leg to the shaft.The electronics connection on the other hand will take less than a few minutes, as they have ribbon cables.

Project Documentation

Project Manager Resources

Project Burndown: https://docs.google.com/spreadsheets/d/1BA9CalRxpTEMkaj8f5vmxWCxLu6S8eY3skgKfgoj3_0/edit?usp=sharing

Project Task Matrix: https://docs.google.com/spreadsheets/d/1tRwaMMoftwmn_mTPSmE4tkiAcbTXb15QuQ_Iaq3tRSA/edit?usp=sharing

Project Gnatt Chart:  https://docs.google.com/spreadsheets/d/1qJi5Dn5vKa3LCvSwmjcABUZHhiHcZaAdZUwo20mh_dQ/edit?usp=sharing

Work Breakdown Structure:  https://drive.google.com/file/d/1kZrGJFDMnC0kTgMegdcvJuCHic7w2qYE/view?usp=sharing

WBS Blog: https://www.arxterra.com/spring-2018-at-st-work-breakdown-structure-wbs/

Creative Solution: https://docs.google.com/presentation/d/15-R1zJiGFsAFutUOhRmU5uyTVYaGsuqz92BFf58_nCg/edit?usp=sharing

Project Preliminary Budget: https://docs.google.com/spreadsheets/d/1oxZsYJLEbIrbdFIPajqWeOOjfz4Kuyb-HZ5zrYufdqY/edit?usp=sharing

AT-ST PDR Presentation:  https://docs.google.com/presentation/d/1-NQhuu86UMHXlMK_8aWX3uDd6Hr-O2HtnjHZ4MrP_hY/edit?usp=sharing

AT-ST PDR Blog: Linked when Published

Weekly Meetings: https://drive.google.com/drive/folders/1gVZSaHw7cnSAfjJnVRijB9rwGvk1QtHc?usp=sharing

E&C Resources

PCB & Fritzing Diagrams: final PCB and Fritizing, link if broke: https://drive.google.com/file/d/1JSqOuvCCSRSwIWFCpZrfkfj4Ga_RjFsW/view?usp=sharing

AT-ST Arduino Codes:  Code-20180517T100914Z-001, link if broke: https://drive.google.com/drive/folders/1DZBI-riP9-Pr2yBkuRpEFd-wREy2lyig?usp=sharing

MST Resources

System Block Diagram: https://drive.google.com/file/d/1j5_l9pjMIDLRvQ1kjKGN6JH-4fDHt6XK/view?usp=sharing

SBD Blog: https://www.arxterra.com/at-st-system-block-diagram/

Project Breakdown Structure: https://drive.google.com/file/d/1TlbJeORAzsJNmbRW44lwExin888p_u7W/view?usp=sharing

PBS Blog: https://www.arxterra.com/at-st-product-breakdown-structure-pbs/

Resource Report: https://drive.google.com/drive/folders/1zvRPpSIN7W8F0zzLFqQXKC7xtbaw7mvQ?usp=sharing

Power Budget: https://docs.google.com/spreadsheets/d/1OaWtFrqYVQsylEh2nXOvKjFT-g2KG72ej-pF6OJWQ54/edit?usp=sharing

Mass Report: https://docs.google.com/spreadsheets/d/1_q0K2hwcqDshcp3e7MT1azD3lbXh80qJeSJ1bALZQZ0/edit?usp=sharing

Interface Matrix: https://docs.google.com/spreadsheets/d/1BBBQAYeuzqONEjrJYas0pvlGR3igG8wluO_shYIF2mE/edit?usp=sharing

AT-ST Command and Telemetry (Mobile App.) Blog: https://www.arxterra.com/at-st-command-and-telemetry-mobile-app/

Verification Matrix: https://docs.google.com/spreadsheets/d/1HHaQliwvLYbqErqJi2AVOlqGEzNX7grKOYJ2CBUFQ7M/edit?usp=sharing

Manufacturing Resources

Final Solidworks Model: Solidworks files-20180517T101958Z-001, Link if Broken: https://drive.google.com/drive/folders/1NlfKwoVS82mzJICGQdZJKbr_0ODFaeZI?usp=sharing

Lessons Learned

By: Intiser Kabir (Project Manager)

From this class. The most important thing I learn is time management and trying to find different ways of communicating with the group to get everyone together. One of the most Critical things to do is Planning and Scheduling, even then a lot of things don’t go to plan as one may expect.

  • Things Don’t Always Go Into Plan! Whenever you are scheduling meetings with your group, make sure to have a back-up plan. Especially since there are members that aren’t available on certain days and sometimes you or someone in the group will get sick. Always have some to plan around those situation.

 

  • Communication. One of the biggest issues I have faced as my time as Project Manager is certain members not informing issues they have, I recommend finding a way with such member that like voice chat on Discord or calling them up. Is best to know when they are free so you can talk them individually to see what issues they are having and see what can you do to help out.

 

  • Research. At the very beginning, do a lot of research on previous projects see why they fail, and see their advice on how to improve it. Do research on the parts you may buy. For us we had to buy specific type of Male to Male pins and had to custom make our housing just to connect the Shaft Encoder. If we never knew this a long time ago, we wouldn’t have as much issues regarding the Shafts.
  • Always Get Customer’s Approval. I myself learned this the hard way. For our preliminary design our Customer didn’t like the fact we were using servos to move our leg and especially wanted us to use motors. We had to go back into the drawing board at a crucial point of our project. The customer was generous enough to help and advice us on how to improve our project or what we should look into while doing our project. Don’t be afraid to approach him when you are facing issues.
  • Get a Prototype working ASAP. The Customer made a huge point on it especially before Spring break to get a working model ready. The long you hold off on that the harder it will take to get your project up and ready. You will find out issues a lot faster the quicker you make your prototype. Especially since you don’t have much time to begin with in class to work on such a massive project.
  • Plan to iterate the 3D model at least 5 times and don’t rely heavily on the 3D printing for some parts, find alternatives and don’t rely on one company for your prints. There are many parts that need to consistently be changes there will always be issues regarding 3D printing such deformation or parts come out too fragile. Find alternative ways to make certain parts like model injects. Research on how to do that!
  • PCB is Not Easy to Make. It took my E&C any different iterations to finally get approved. Assembling is the hard part of making a PCB. Please remember the quicker you quicker you can make your PCB the more money you can save. Also try to Remind your Customer you have more than 1 custom PCB so he doesn’t just focus on 1 and never check  the other ones.
  • Provide Weekly Goals. To keep your project on task, see what each person has to do per task so they can work independently. Planning isn’t easy but, but as Project Manager just form a general goal and see how everyone is doing.
  • DON’T RELY ON 1 PERSON TO DO ALL THE WORK. There are some points where my E&C Software had to build and test by himself. Please don’t let this happen, make sure everyone do their part because you can’t let someone do all the work.

 

This class went fast and you will realize how important time is. Is hard to take breaks at time for this class. Plan accordingly, help each other, learn from your mistakes, and most importantly get in your Customer’s good side. You want the Project succeed as much as you can. Don’t wait to the last minute to get everything ready always have back up, 1 of our motors failed in the last minute which ended up hindering us. So having multiple replacements isn’t a bad thing!

Future Improvements

  1. Find alternative ways on making some of the parts and don’t rely heavily on 3D Printing. Somethings aren’t designed to be 3D Printed!
  2. Research on how to code Shaft Encoders.
  3. Look into current regulators to prevent your motors draining out.
  4. Find a way to control the balance of the the AT-ST so it doesn’t wobbles as it walks.
  5. Look into getting a boost converter to give more voltage out for the motors.
  6. Redesign leg components into simple connector shapes that work with screws to make 3D printing easier and more accurate.
  7. Create panels to cover gaps in the model to hide wires and to make the robot more stable. Also to make the robot look cooler.
  8. Implement more holes in the design for screws so that the holes are in the correct exact locations of the model and so that the screw holes in the model are easy to access.

Project Video

–Linked When Made–

Spring 2018: Project BiPed: Verification and Validation Pass/Fail Matrix

/in /by

By: Jeffrey De La Cruz (Mission, Systems, and Test Engineer)

Verified By: Miguel Gonzalez (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

The Level 1 and Level 2 requirements verification pass/fail matrix will demonstrate if the BiPed functions properly. Each requirement state will be tested by a specific verification method. The verification methods consist of Test, Analysis, Demonstration, and Inspection. As project BiPed continues, the results tools, procedure, and results section will be filled depending on the level requirement. This will determine whether the level requirements pass or fail the verification. The Level 1 and Level 2 requirements are separated in order.

Purpose

The purpose of this document is to provide a comprehensive Verification and Validation (V&V) Test Plan of the Spring 2018 Micro FOBO, including the Project ConOps/Mission, Test Methodology, Verification and Validation Matrices, and Test Cases.

 

Project ConOps/Mission

The mission is to create a toy robot that can be controlled and navigate the toy robot through a 2D maze. The toy robot would then be capable to travel through the maze repeating the same route from its first walkthrough of the maze.

Document Overview

This document is organized as follows:

  • Section 2 contains links to relevant and applicable project reference documents and presentations for this Test Plan.
  • Section 3 contains a description of the Testing Methodology utilized in this Test Plan, including the Master Verification and Validation Matrix, a description of the 4 types of V&V testing performed, the Test Environment(s) description(s), and a Master Test Case List of all (number #) Test Cases for this project.

Applicable Documents

This section contains a table of all relevant and applicable project reference documents and presentations for the Micro FOBO Spring 2018 Verification and Validation Test Plan.

Document Name Document Description Document Link
Research for Micro FOBO Contains research for Micro FOBO. Links to documents helpful to work on Micro FOBO. Research
Project BiPed Website Contains information regarding Jonathon Dowdall’s FOBO FOBO
PDD Preliminary Design Document. Contains xxxxxx PDD
PDR Preliminary Design Review Presentation. Contains L1 and L2 Requirements, System Block Diagram, Resource Allocation Reports, trade studies,xxxxxx PDR
Final Project Summary Final Presentation of completed Project. Contains xxxxxx Currently not available
NASA Systems Engineering Handbook (2007) Document containing Test Methodologies in Section 3 http://www.acq.osd.mil/se/docs/NASA-SP-2007-6105-Rev-1-Final-31Dec2007.pdf

Testing Methodology

This section contains the Master Verification and Validation Matrix, as well as detailed descriptions of the various Test Methods and Test Cases utilized in this Test Plan.

Master Verification and Validation (V&V) Matrix

This matrix provides complete traceability of every requirement. Specifically, every requirement is mapped to its description, success criteria, V&V testing designation and method, and Test Case(s) where the requirement will be tested. Note that some overlap between Test Cases’ requirements V&V is okay.

Level One Requirements

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Test Case #
L1-1 Micro FOBO will stand on its own without any physical help. Micro stands on its own without any assistance. Inspection 2
L1-2 Micro FOBO’s electronic components will be easily assembled and disassembled from the robot’s head. Micro FOBO’s electronic components are easily assembled and disassembled from the robot’s head Inspection 2
L1-3 Micro FOBO will have 2 legs Micro FOBO has two legs. Inspection 2
L1-4 Micro FOBO will be a toy robot based on the design of the FOBO from Jonathan Dowdall. Micro FOBO is a toy robot based on Jonathan Dowdall Inspection 1
L1-5 Micro FOBO will fit within the classroom cabinets. 28”x13”x14.5” Micro FOBO fits in the cabinet within those dimensions Inspection 5
L1-6 Micro FOBO will utilize a 3DoT board or Sparkfun Pro Micro 3.3V/8MHz. Micro FOBO utilizes a 3DoT board or Sparkfun Pro Micro 3.3V/8MHz Inspection 2
L1-7 Micro FOBO’s part components will be 3D printed using the material carbon fiber PLA Micro FOBO’s parts are 3D printed using carbon fiber PLA Inspection 1
L1-8 Micro FOBO will not exceed a print time of 7.80 hours. Upon approval of waiver Micro FOBO does not take longer than 7.80 hours to print. Inspection 1
L1-9 Micro FOBO shall not exceed a cost of $250.00 to construct. Cost does not exceed $250.00 Inspection 5
L1-10

 

 Micro FOBO shall be 63% of the overall size of Jonathan Dowdall’s FOBO. Micro FOBO is smaller than original FOBO by 63% or less

 

 Inspection/Analysis

 

 2
L1-11 Micro FOBO shall detect intersections of the maze. Micro FOBO detects intersections of the maze. Demonstration 3
L1-12 Micro FOBO shall be able to perform static walking Micro FOBO performs static walking Inspection 3
L1-13 Micro FOBO shall produce a 90-degree turn. Micro FOBO turns Demonstration 3
Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Test Case #
L1-14 The user shall guide the Micro FOBO through the maze with the use of the Arxterra application. The user guides the Micro FOBO through the maze using the Arxterra application Demonstration 3
L1-15 Micro FOBO shall record the path of the maze Micro FOBO records the path of the maze Demonstration 3
L1-16 Micro FOBO shall traverse the maze using the recorded path. Micro FOBO traverses the maze using the recorded path Demonstration 3
L1-17 Micro FOBO shall traverse cloth, paper, and linoleum. Micro FOBO walks on cloth, paper, and linoleum. Demonstration 4
L1-18 Micro FOBO will utilize a printable circuit board. Micro FOBO utilizes a printable circuit board. Inspection 2
L1-19 The final biped shall be physically completed by May 10, 2018 Micro FOBO is physically completed by May 10, 2018 Inspection 1
L1-20 Micro FOBO should step over a square rod 1cm tall by 1cm wide by 10 cm long Micro FOBO steps over a square rod of 1cm tall by 1cm wide by 10cm long. Demonstration 4
L1-21 Micro FOBO should be able to perform dynamic walking. Micro FOBO performs dynamic walking Demonstration 3

Level Two Requirements

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Test Case #
L2-1 Micro FOBO will be connected via Bluetooth to the app on an android phone Micro FOBO connects via Bluetooth Demonstration 3
L2-2 Micro FOBO dimensions of robot will need to be small enough to fit in a 4in by 4in box for maze purposes. Micro FOBO fits in the 4in by 4in square of the maze. Inspection 5
L2-3 Micro FOBO will use eight micro servos. Micro FOBO has eight micro servos Inspection 2
L2-4 Micro FOBO will use UV sensors to detect the colors of the maze. Micro FOBO UV sensor detects the colors of the maze Demonstration 2
L2-5 By detecting the colors of the maze, the Micro FOBO shall determine if it is at an intersection. (intersection detection) Using the colors of the maze, Micro FOBO detects an intersection Test 3
L2-6 Micro FOBO shall use a battery that outputs 3.7V Test 2
L2-7 The user shall use the Arxterra application to move the robot forward, left, and right. Micro FOBO moves forward, left and right. Test 3
L2-8 Micro FOBO’s wiring shall be able to connect and reconnect in 10 min or less The wiring for Micro FOBO’s connects in 10 min or less. Inspection 1
Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Test Case #
L2-9 Micro FOBO wiring shall be nice and clean with the usage of terminal blocks, contact pins, 2.0mm PH series JST connectors, and barrel connectors Micro FOBO’s wiring is nice and clean using terminal blocks, contact pins, 2.0mm PH series JST connectors, and barrel connectors. Demonstration/inspection 1
L2-10 Micro FOBO shall play a musical tune when the maze is completed Micro FOBO plays a musical tun when the maze is completed. Inspection 4
L2-11 Micro FOBO shall have indicating LEDs to demonstrate if micro FOBO is on. Micro FOBO has LEDs and the LEDs turn on. These LEDs  indicate whether its on. 2
L2-12 Micro FOBO shall record the path of the maze the Micro FOBO traverses on the 3DoT board or the Sparkfun Pro Micro 3.3V/8MHz to navigate the robot through the maze. Micro FOBO records the path of the maze and navigates micro FOBO through the maze. Demonstration 3
L2-13 Micro FOBO shall use a 3D printed carbon fiber PLA head chassis and leg components. Micro FOBO’s head chassis and leg components are 3D printed using the carbon fiber PLA. Inspection 1
L2-14 Micro FOBO shall measure 4.5” x 3.25” x 7.25” (l x w x h) Micro FOBO measures 4.5” x 3.25” x 7.25” (l x w x h) Inspection/Analysis 2
L2-15 Micro FOBO shall weigh 460g Micro FOBO weighs at or near 460 grams. 2
L2-16 Micro FOBO shall detect objects 8 inches from it. Micro FOBO detects an object 8 inches from it Demonstration 3
L2-17 Micro FOBO should be able detect other robots and avoid collision. Micro FOBO should stop completely and wait for command Micro FOBO detects other robots in the maze and stops. It stops and awaits command. Demonstration 3
L2-18 Micro FOBO should take a bow at the end of the maze. Micro FOBO takes a bow at the end of the maze. Demonstration 4

Testing Types and Methods

This subsection contains the 4 types of Verification and Validation (V&V) testing, as derived from the NASA Systems Engineering Handbook referenced above in Section 2. The material is taken from Chapter 5 in the NASA Handbook and replicated below.

Verification proves that a realized product for any system model within the system structure conforms to the build-to requirements (for software elements) or realize-to specifications and design descriptive documents (for hardware elements, manual procedures, or composite products of hardware, software, and manual procedures). In other words, Verification is requirements driven; verification shows proof of compliance with requirements; that the product can meet each “shall” statement as proven through a performance of a test, analysis, inspection, or demonstration.

Validation is conducted under realistic conditions (or simulated conditions) on an end product for the purpose of determining the effectiveness and suitability of the product for use in mission operations by typical users; and the evaluation of the results of such tests. Testing is the detailed quantifying method of both verification and validation. However, testing is required to validate final end products to be produced and deployed. In other words, Validation is ConOps/Mission-driven; validation shows that the product accomplishes the intended purpose in the intended environment; that product meets the expectations of the customer and other stakeholders as shown through the performance of a test, analysis, inspection, or demonstration.

Verification by Analysis

The use of mathematical modeling and analytical techniques to predict the suitability of a design to stakeholder expectations based on calculated data or data derived from lower system structure end product verifications. Analysis is generally used when a prototype; engineering model; or fabricated, assembled, and integrated product is not available. Analysis includes the use of modeling and simulation as analytical tools. A model is a mathematical representation of reality. A simulation is the manipulation of a model.

Verification by Demonstration

Showing that the use of an end product achieves the individual specified requirement. It is generally a basic confirmation of performance capability, differentiated from testing by the lack of detailed data gathering. Demonstrations can involve the use of physical models or mockups; for example, a requirement that all controls shall be reachable by the pilot could be verified by having a pilot perform flight-related tasks in a cockpit mockup or simulator. A demonstration could also be the actual operation of the end product by highly qualified personnel, such as test pilots, who perform a one-time event that demonstrates a capability to operate at extreme limits of system performance, an operation not normally expected from a representative operational pilot.

Verification by Inspection

The visual examination of a realized end product. Inspection is generally used to verify physical design features or specific manufacturer identification. For example, if there is a requirement that the safety arming pin has a red flag with the words “Remove Before Flight” stenciled on the flag in black letters, a visual inspection of the arming pin flag can be used to determine if this requirement was met.

Verification by Test

The use of an end product to obtain detailed data needed to verify performance, or provide sufficient information to verify performance through further analysis. Testing can be conducted on final end products, breadboards, brass boards or prototypes. Testing produces data at discrete points for each specified requirement under controlled conditions and is the most resource-intensive verification/validation technique. As the saying goes, “Test as you fly, and fly as you test.” (See Subsection 5.3.2.5.).

Validation by Analysis

The use of mathematical modeling and analytical techniques to predict the suitability of a design to stakeholder expectations based on calculated data or data derived from lower system structure end product validations. It is generally used when a prototype; engineering model; or fabricated, assembled, and integrated product is not available. Analysis includes the use of both modeling and simulation.

Validation by Demonstration

The use of a realized end product to show that a set of stakeholder expectations can be achieved. It is generally used for a basic confirmation of performance capability and is differentiated from testing by the lack of detailed data gathering. Validation is done under realistic conditions for any end product within the system structure for the purpose of determining the effectiveness and suitability of the product for use in NASA missions or mission support by typical users and evaluating the results of such tests.

Validation by Inspection

The visual examination of a realized end product. It is generally used to validate physical design features or specific manufacturer identification.

Validation by Test

The use of a realized end product to obtain detailed data to validate performance or to provide sufficient information to validate performance through further analysis. Testing is the detailed quantifying method of both verification and validation but it is required in order to validate final end products to be produced and deployed.

Master Test Case List

A Test Case can be described as a scenario containing a sequence of detailed test steps, in order to perform verification/validation testing on multiple requirements that are similar in nature.

For example, if a group has multiple requirements regarding starting up their robot project, they can group all these requirements to be verified/validated in a single test case. Similarly, if a group has multiple requirements that can be verified/validated via inspection, they can group all of them together in a single test case.

The purpose of this subsection is to provide a High-Level overview of all Test Cases utilized in this Test Plan. Each item in this subsection will contain the following: Test Case Number and Name, High-Level Scenario Description, and Test Environment Description.

TC-01: Creation, Construction, and Completion of Micro FOBO

Description: Micro FOBO is a toy biped robot based on the design of Jonathon Dowdall’s FOBO. Micro FOBO will be 3D printed using the carbon fiber PLA and will not exceed a print time of 7.80 hours. The head chassis and leg components will be 3D printed using this material. Micro FOBO’s wiring connection does not take more than 10 min and it will contain the usage of terminal blocks, contact pins, 2.0mm PH series JST connectors and barrel connectors. The final physical rendition of micro FOBO shall be completed by May 10, 2018. This test case describes the creation, construction, and completion of micro FOBO. The design, the material used on the components, the print time and the date is described in this test case. These requirements are grouped together because of the conditions of the creation and completion of micro FOBO.

Test Environment: The test case takes place in a classroom.

TC-02: Physical Attributes of Micro FOBO

Description:  This test case consists of anything physical attributes of the micro FOBO. While the previous test case discusses the creation and completion of micro FOBO, this test case will include the requirements that micro FOBO has physically. Micro FOBO electronics components will be easily assembled and disassembled. It will contain two legs that will help it stands on its own without any physical help from the group. A total of 8 servos will be in the legs. Micro FOBO overall size is about 60% of the overall size of Jonathon Dowdall’s FOBO. The dimensions of micro FOBO are: 4.5”x3.25”x7.25”(l x w x h). On the left and right side of micro FOBO’s head, it will contain one LED on each side to indicate whether its turning left or right. Micro FOBO will include a UV sensor to detect colors, will include a custom PCB for sensors and servos, a battery that outputs 3.7 V, a 3DOT board or Pro Micro 3.3V/8MHz. Micro FOBO weight will not exceed 460g. These are grouped together because these are qualities of micro FOBO that are physical.

Test Environment: These test cases take place inside of a classroom.

TC-03: Functionality of Micro FOBO

Description: Functionality of micro FOBO test case consists anything micro FOBO will do to function properly and also the connection and utility of the Arxterra application. This consists of micro FOBO’s ability to detect intersections using the colors of the maze and determine whether to turn and make a 90-degree turn. Micro FOBO functionality to perform a static walk and/or dynamic walk. This test case also contains the user guide of micro FOBO through the maze by connecting the micro FOBO via Bluetooth to the Arxterra application, the recording of the path of the maze, and micro FOBO’s traversing the maze using the recorded path. The user can make the micro FOBO turn forward, turn left, and turn right. Lastly, the micro FOBO detects objects 8 inches from it and should be able to detect other robots and avoid collisions.

Test Environment: This test case will take place inside a classroom

TC-04: Micro FOBO’s Extra Functionality and Challenges

Description: This test case discusses extra functionality the micro FOBO performs whether it being on the maze or on the table and challenges and/or obstacles. For example, a challenge that micro FOBO can perform is walking on different terrain field like linoleum, cloth, and paper. Another challenge for micro FOBO will be to walk over a square rod that measure 1cm tall, 1 cm wide and 10 cm long. Micro FOBO playing a musical tune and taking a bow when it finishes the maze. These requirements were grouped together because these requirements are extra functionality and challenges for micro FOBO.

Test Environment: This test case will take place inside a classroom.

TC-05: Cost, Storage, Fitting in Maze Dimensions

Description: This test case consists of micro FOBO’s cost, being able to fit in ECS 316 cabinets for storage, and being able to fit the 4 in by 4 in maze squares. These requirements were grouped together because these requirements did not relate to any of the previous test cases.

Test Environment: This test case will take place inside a classroom.

Test Procedures

This section contains details of every Test Case utilized for V&V of project requirements. Each Test Case subsection within this section will contain the following: Test Case number and name, detailed scenario description, Test Case Traceability Matrix, detailed success criteria, detailed Test Environment description, Test Assumptions/Preconditions, Detailed Test Procedure Steps, and a Pass/Fail Matrix of success criteria per Test Case.

TC-01: Creation Construction, and Completion of Micro FOBO

Detailed Description

 

This is test case describes the creation, construction, and completion of micro FOBO. For each aspect of creation construction, and completion provides certain conditions of how micro FOBO is physically done. It is going from the step of being 3D printed to assembling it together to being completed. The goal of this test case to demonstrate this and the requirements grouped for this test case are essential for the micro FOBO to be created, constructed and completed.

Test Case Traceability and Pass/Fail Matrix

This matrix shall show all requirements that are being tested in this test case. The Pass/Fail Column is populated after the Test Case has been run via the Procedure Steps.

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Pass/Fail
L1-4 Micro FOBO will be a toy robot based on the design of the FOBO from Jonathan Dowdall. Micro FOBO is a toy robot based on Jonathan Dowdall Inspection Pass
L1-7 Micro FOBO’s part components will be 3D printed using the material carbon fiber PLA Micro FOBO’s parts are 3D printed using carbon fiber PLA Inspection Pass
L1-8 Micro FOBO will not exceed a print time of 7.80 hours. Upon approval of waiver Micro FOBO does not take longer than 7.80 hours to print. Inspection Pass
L1-19 The final biped shall be physically completed by May 10, 2018 Micro FOBO is physically completed by May 10, 2018 Inspection Pass
L2-8 Micro FOBO’s wiring shall be able to connect and reconnect in 10 min or less The wiring for Micro FOBO’s connects in 10 min or less. Inspection Pass
L2-9 Micro FOBO wiring shall be nice and clean with the usage of terminal blocks, contact pins, 2.0mm PH series JST connectors, and barrel connectors Micro FOBO’s wiring contains these type of wires and it is nice and clean. Inspection Pass
L2-13 Micro FOBO shall use a 3D printed carbon fiber PLA head chassis and leg components. Micro FOBO’s head chassis and leg components are 3D printed using the carbon fiber PLA. Inspection Pass

Detailed Success Criteria

In order for this test case to be successful, each of the requirements needs to pass. The goal of this test case will demonstrate that micro FOBO is physically complete beginning from being 3D printed to being built piece by piece. Therefore, the title of this test case goes to explain micro FOBO’s creation, construction, and completion.

Test Environment

This test case will be taking place in the ECS building in room 316. This is where each step of the test case will be presented and show the physically complete micro FOBO.

Assumptions and Preconditions

  • 3D printer will function properly and print parts successfully

Procedure Steps

Step Number Step Description Pass Criteria Recorded Data Requirement(s) Tested Test Method
1 Inspect Jonathon Dowdall’s FOBO and compare it with micro FOBO Micro FOBO Is a toy robot based on Jonathon Dowdall’s FOBO L1-4 Inspection
2 Examine micro FOBO and determine and compare with different material used in 3D printed. Micro FOBO’s parts are 3D printed using the carbon fiber PLA. L1-7 Inspection
3 Examine the print time of the mini FOBO. The print time document is here. The total print time should not exceed a time of 7.80 hours L1-8 Inspection
4 Place a physically completed micro FOBO on the table The completed micro FOBO  is physically ready by May 10 2018. L1-19 Inspection
5 With none of the wires connected, the assembly of micro FOBO will be demonstrated. Once the it is assembled, micro FOBO will then be disassembled. The assembly and disassembly for micro FOBO will not exceed the time of 10 mins. L2-8 Demonstration
6 During assembly, the wires will be inspected and determined whether the correct The wiring of micro FOBO is nice and clean and uses 2.0mm PH series JST connectors and barrel connectors. L2-9 Inspection
7 Inspecting the micro FOBO’s head chassis and leg components, it will be determined if the material carbon fiber PLA is used. Micro FOBO’s head chassis and leg components are 3D printed using carbon fiber PLA L2-13 Inspection

TC-02: Physical Attributes of Micro FOBO

Detailed Description

The Physical Attributes of Micro FOBO test case discusses every components and equipment that the micro FOBO has or utilizes. For example, micro FOBO requires 8 servos in order to stand and to walk. Anything that describes that the micro FOBO needs physically in order to walk through the maze will be in this test case. The goal of this test case is to demonstrate the physical attributes that micro FOBO will need and utilize.

Test Case Traceability and Pass/Fail Matrix

This matrix shall show all requirements that are being tested in this test case. The Pass/Fail Column is populated after the Test Case has been run via the Procedure Steps.

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Pass/Fail
L1-1 Micro FOBO will stand on its own without any physical help. Micro stands on its own without any assistance. Inspection Pass
L1-2 Micro FOBO’s electronic components will be easily assembled and disassembled. Micro FOBO’s electronic components are easily assembled and disassembled Inspection Pass
L1-3 Micro FOBO will have 2 legs Micro FOBO has two legs. Inspection Pass
L1-6 Micro FOBO will utilize a 3DoT board or Sparkfun Pro Micro 3.3V/8MHz. Micro FOBO utilizes a 3DoT board or Sparkfun Pro Micro 3.3V/8MHz Inspection Pass
L1-10 Micro FOBO shall be 63% of the overall size of Jonathan Dowdall’s FOBO. Micro FOBO is smaller than original FOBO by 63% or less

 

 Inspection Pass
L1-18 Micro FOBO will utilize a printable circuit board. Micro FOBO utilizes a printable circuit board. Inspection Pass
L2-3 Micro FOBO will use eight micro servos. Micro FOBO has eight micro servos Inspection Pass
L2-4 Micro FOBO will use UV sensors to detect the colors of the maze. Micro FOBO UV sensor detects the colors of the maze Inspection Pass
L2-6 Micro FOBO shall use a battery that outputs 3.7V A battery that outputs 3.7V is used. Inspection Pass
L2-11

 

 Micro FOBO shall have indicating LEDs to demonstrate if micro FOBO is on. Micro FOBO has LEDs and the LEDs turn on. These LEDs  indicate whether its making a left or right turn. Inspection

 

 Pass
L2-14 Micro FOBO shall measure 4.5” x 3.25” x 7.25” (l x w x h) Micro FOBO measures 4.5” x 3.25” x 7.25” (l x w x h) Demonstration Pass
L2-15 Micro FOBO shall weigh 460g Micro FOBO weighs at or near 460 grams. Inspection Pass

Detailed Success Criteria

In order for this test case to be successful, the physical components of the micro FOBO need to present. Each of the requirements of this test case are needed for the micro FOBO to even begin to navigate the maze. Without some of these requirements, micro FOBO would not be able to perform properly. For example, micro FOBO requires two legs and these two legs will help the micro FOBO to be able to stand without any assistance.

Test Environment

This test case will be taking place in the ECS building in room 316.

Assumptions and Preconditions

  • The 3D printed parts were printed properly
  • Micro FOBO was constructed properly

Procedure Steps

Step Number Step Description Pass Criteria Recorded Data Requirement(s) Tested Test Method
1 Micro FOBO will be placed on a flat surface. Once placed on a flat surface, micro FOBO stands without L1-1 Inspection
2 Micro FOBO assembly is demonstrated. The ease of the assembly and disassembly will be Micro FOBO is easily assembled and disassembled. L1-2 Inspection
3 A completed Micro FOBO will placed on a flat surface. By inspection, micro FOBO has two legs. L1-3 Inspection
4 Having a 3DOT board and/or Sparkfun Pro Micro 3.3v/8Mhz A 3DOT board and/or Sparkfun Pro Micro 3.3V/8MHz is present L1-6 Inspection
5 Place FOBO and micro FOBO side by side and take measurements Micro FOBO is smaller by 63% less  than original FOBO L1-10 Inspection/Analysis
6 A printable circuit is placed on the table counter. A printable circuit board is present L1-18 Inspection
7 A completely built micro FOBO is on the table. The micro servos on the FOBO are to be counted. Eight micro servos are present in the micro FOBO L2-3 Inspection
8 A UV sensor is placed on the counter table. Upon inspecting, there is UV sensor present. L2-4 Inspection
9 Measure the battery with a voltmeter and determine the volts of the battery. A battery that outputs 3.7V is present and helps function micro FOBO L2-6 Inspection/Analysis
10 Inspecting a completed micro FOBO, two LEDs will be on the head chassis. These LEDs will show that the micro FOBO is on. Two LEDs are on the head chassis turn on indicating that the micro FOBO is on. L2-11

 

 Inspection
11 A completed micro FOBO will be measured with a ruler. Measurements will be noted. Micro FOBO measurements are 4.5” x 3.25” x 7.25” (l x w x h) L2-14 Inspection/Analysis
12 A completed micro FOBO weight will be measured on a scale. And Micro FOBO does not exceed a total weight of 460 grams. L2-15 Inspection/Analysis

TC-03: Functionality of Micro FOBO

Detailed Description

The goal of this test case is to demonstrate the functionality of micro FOBO. this is test case describes the creation, construction, and completion of micro FOBO. For each aspect of creation construction, and completion provides certain conditions of how micro FOBO is physically done. It is going from the step of being 3D printed to assembling it together to being completed.

Test Case Traceability and Pass/Fail Matrix

This matrix shall show all requirements that are being tested in this test case. The Pass/Fail Column is populated after the Test Case has been run via the Procedure Steps.

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Pass/Fail
L1-11 Micro FOBO shall detect intersections of the maze. Micro FOBO detects intersections of the maze. Inspection Fail
L1-12 Micro FOBO shall be able to perform static walking Micro FOBO performs static walking Inspection Fail
L1-13 Micro FOBO shall produce a 90-degree turn. Micro FOBO turns at 90-degree turn Inspection Fail
L1-14 The user shall guide the Micro FOBO through the maze with the use of the Arxterra application. The user guides the Micro FOBO through the maze using the Arxterra application Inspection Fail
L1-15 Micro FOBO shall record the path of the maze Micro FOBO records the path of the maze Inspection Fail
L1-16 Micro FOBO shall traverse the maze using the recorded path. Micro FOBO traverses the maze using the recorded path Inspection Fail
L1-21 Micro FOBO should be able to perform dynamic walking. Micro FOBO performs dynamic walking Inspection Fail
L2-1 Micro FOBO will be connected via Bluetooth to the app on an android phone Micro FOBO connects via Bluetooth using an android phone Inspection Fail
L2-5 By detecting the colors of the maze, the Micro FOBO shall determine if it is at an intersection. (intersection detection) Using the colors of the maze, Micro FOBO detects an intersection Inspection Fail
L2-7 The user shall use the Arxterra application to move the robot forward, left, and right. Micro FOBO moves forward, left and right. Inspection/Analysis

 

 Fail
L2-12 Micro FOBO shall record the path of the maze the Micro FOBO traverses on the 3DoT board or the Sparkfun Pro Micro 3.3V/8MHz to navigate the robot through the maze. Micro FOBO records the path of the maze and navigates micro FOBO through the maze. Demonstration Fail
L2-16 Micro FOBO shall detect objects 8 inches from it. Micro FOBO detects an object 8 inches from it Inspection Fail
L2-17 Micro FOBO should be able detect other robots and avoid collision. Micro FOBO should stop completely and wait for command Micro FOBO detects other robots in the maze and stops. It stops and awaits command. Demonstration Fail

Detailed Success Criteria

The success of this test case will show the functionality of micro FOBO. These functions of micro FOBO will help it traverse the maze. These are different than the ones from test case 4 as in these functions are required to walk the maze. These test cases are what is required for the group project.

Test Environment

This test case will be taking place in ECS 316.

Assumptions and Preconditions

  • Previous two test cases are completed.
  • The code is running properly.
  • Parts are functioning properly.

Procedure Steps

Step Number Step Description Pass Criteria Recorded Data Requirement(s) Tested Test Method
1 While micro FOBO is walking in the maze, it will use its UV sensor to Micro FOBO detects an intersection in the maze. A value is recorded L1-11 Demonstration
2 A functional micro FOBO will be placed on the table counter. The code for micro FOBO will be Micro FOBO is able to static walk L1-12 Demonstration
3 While the micro FOBO is running, the micro FOBO will attempt to turn. A 90-degree turn is produced while it is attempting to turn. L1-13 Demonstration
4 While the user is connected to the micro FOBO, the user should be able to guide micro FOBO through the maze. The user is able to guide micro through the maze. L1-14 Demonstration
5 While traversing the maze, micro FOBO records the maze. Micro FOBO records the path of the maze it took. L1-15 Demonstration
6 Using the recorded path of the maze, micro FOBO will traverse this path Micro FOBO traverses the record path. L1-16 Demonstration
7 While micro FOBO is walking, a dynamic can be inspected. Micro FOBO dynamic walks. L1-21 Demonstration
8 Using the Arxterra application, micro FOBO will be connected via Bluetooth. Micro FOBO is connected via Bluetooth L2-1 Demonstration
9 Micro FOBO will be on the maze, walking. While walking, micro FOBO will detect the colors of the lines. And it will determine whether if its at an intersection While on the maze, micro FOBO detects the colors on the maze. Based on the colors of the maze, it will determine if it is at an intersection. L2-5 Demonstration
10 Once micro FOBO is connected to the Arxterra app, the user will demonstrate the functions of walking forward, turning left and right. The user is able to make micro FOBO walk forward, turn left and right. L2-7 Demonstration
11 Micro FOBO will record the path it takes on the 3DOT board or the Sparkfun Pro Micro 3.3V/8MHz to navigate the robot through the maze. Micro FOBO records the path of the maze  on the 3DOT board or the Sparkfun Pro Micro 3.3V/8MHz and navigates it throught the maze. L2-12 Demonstration
12 Micro FOBO will be placed on the table. The program for micro FOBO will be running and the ultra sonic sensor will detect objects 8 inches away. Micro FOBO detects objects 8 inches from it. L2-16 Demonstration
13 While in the maze, micro FOBO will detect other robots on the maze and avoids collision. It will stop and await command. Micro FOBO detects other robots in the maze and stops to avoid collision. It then stops and awaits command. L2-17 Demonstration

TC-04: Micro FOBO’s Extra Functionality and Challenges

Detailed Description

This test case will demonstrate any extra functionality and challenges for micro FOBO. The requirements for this test case are should and shalls for micro FOBO. These extra things that are not required for the basic functionality of micro FOBO but the extra features and challenges that we wanted to demonstrate for micro FOBO. These extra functionalities include playing a musical tune and/or taking a bow at the end of maze. These are extra functions to demonstrate some creativity that micro FOBO can perform.

Test Case Traceability and Pass/Fail Matrix

This matrix shall show all requirements that are being tested in this test case. The Pass/Fail Column is populated after the Test Case has been run via the Procedure Steps.

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Pass/Fail
L1-17 Micro FOBO shall traverse cloth, paper, and linoleum. Micro FOBO walks on cloth, paper, and linoleum. Inspection Fail
L1-20 Micro FOBO should step over a square rod 1cm tall by 1cm wide by 10 cm long Micro FOBO steps over a square rod of 1cm tall by 1cm wide by 10cm long. Inspection Fail
L2-10 Micro FOBO shall play a musical tune when the maze is completed Micro FOBO plays a musical tun when the maze is completed. Inspection Fail
L2-18 Micro FOBO should take a bow at the end of the maze. Micro FOBO takes a bow at the end of the maze. Inspection Fail

Detailed Success Criteria

This test is successful if micro FOBO performs any of the extra functions or challenges. These requirements were to demonstrate some creativity of micro FOBO.

Test Environment

This test case will be taking place in ECS 316.

Assumptions and Preconditions

  • Micro FOBO test case 1 through 4 functions properly.

Procedure Steps

Step Number Step Description Pass Criteria Recorded Data Requirement(s) Tested Test Method
1 Micro FOBO will placed in different terrain fields such as cloth, paper and linoleum and it will walk  on those terrain fields Micro FOBO is able to traverse cloth, paper, and linoleum. L1-17 Demonstration
2 The square rod measuring 1cm tall by 1cm wide by 10cm long is placed on the table. Micro FOBO will walk toward the square rod Micro FOBO steps over a square rod mearsuring 1cm tall by 1cm wide by 10cm long. L1-20 Demonstration
3 Micro FOBO  traverses a path of the maze. It will finish the maze. Once micro FOBO completes the maze, a musical tune plays to show that it finished maze. L2-10 Demonstration
4 Micro FOBO traverses a path of the maze and it will finish the maze. After the musical tune that is played when the micro FOBO finished the maze, micro FOBO takes a bow. L2-18 Demonstration

TC-05: Cost, Storage, Fitting in Maze Dimensions

Detailed Description

This test case describes the cost, the storage and the fitting in the maze for micro FOBO.

Test Case Traceability and Pass/Fail Matrix

This matrix shall show all requirements that are being tested in this test case. The Pass/Fail Column is populated after the Test Case has been run via the Procedure Steps.

Requirement Number Requirement Text Verification Success Criteria Verification Method (Test, Analysis, Demonstration, Inspection) Pass/Fail
L1-5 Micro FOBO will fit within the classroom cabinets. 28”x13”x14.5” Micro FOBO fits in the cabinet within those dimensions Inspection Pass
L1-9 Micro FOBO shall not exceed a cost of $250.00 to construct. Cost does not exceed $250.00 Inspection Pass
L2-2 Micro FOBO dimensions of robot will need to be small enough to fit in a 4in by 4in box for maze purposes. Micro FOBO fits in the 4in by 4in square of the maze. Inspection Pass

Detailed Success Criteria

This test case is successful if micro FOBO does not invalidate any of the requirements. Micro FOBO meets each of the requirements.

Test Environment

This test case will be taking place in ECS 316.

Assumptions and Preconditions

  • Micro FOBO is successfully built.

Procedure Steps

Step Number Step Description Pass Criteria Recorded Data Requirement(s) Tested Test Method
1 Carry micro FOBO to the cabinets and place it in one of the cabinets. Micro FOBO fits in the cabinet within those dimensions L1-5 Demonstration
2 View the cost report for micro FOBO and review the total cost. Micro FOBO’s cost does not exceed $250.00 L1-9 Inspection/Analysis.
3 Micro FOBO will be placed in one of maze squares. Micro fits inside of the 4in by 4in maze squares. L2-2 Inspection/Demonstration

Appendices

This section will contain any additional documentation needed to verify/validate requirements. For example, if a project has a cost constraint requirement, include the cost breakdown spreadsheet below as a subsection and reference the appendix subsection in the related Test Step in the Test Procedure. If another group needs to verify something by hand via calculation, include the calculations as a subsection below and reference the appendix subsection in the related Test Step in the Test Procedure.

  1. Print Time of FOBO
  2. Mass Report

Spring 2018 AT-ST Gyro

/in /by

By: Intiser Kabir (Project Manager) and Danny Pham (Manufacturing)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

Our research on the Gyro is to see if it is a good mechanism to help balance our AT-ST robot. We are 1st going to test how the Gyro calibrates when moved around. After that, we are going to see if the Gyro can help control the head and “tail” feature of our AT-ST robot, which are going to be used as a balancing mechanism. To do so, we are trying to see how Gyro can control Servos to give us an idea how to set up the Gyro-Servo balancing mechanism.

Materials

  • 1 x MPU-6050 (Gyro)
  • 1 x Arduino Uno
  • 1 x connection cord
  • 1 x Micro Servo
  • 4-7 x Wires
  • 1 x breadboard (however it might not be needed depending on the type of wires you use)

Testing the MPU6050

Fritzing Diagram

Figure 1: The circuit above is used to see calibration of the Gyro

Figure 2: The circuit above is where you control the servo arm with a Gyro

For our build since MPU6050 Wiring:

  • SCL – A5
  • SDA – A4
  • VCC – 3.3V
  • GND – GND
  • INT – PIN3
  • Servo Wiring:
  • VCC – 5V
  • GND – GND
  • Control – PIN3

Instruction

Gyro Calibrations:

  1. Connect the gyroscope to the Arduino using the fritzing diagram (Figure 1).
  2. Download the MPU6050 and I2Cdev libraries in the GitHub link in the references below.
  3. Copy the MPU6050 and I2Cdev folders into the Arduino libraries.
  4. Now open up the MPU6050_DMP6 file in Arduino under examples.
  5. Make sure the board and port are selected. Verify and upload the code to the Arduino.
  6. Open up the serial monitor and set the Baud rate to at least 15000.
  7. Follow the instructions. Enter a character and the coordinates will be given shortly.

Gyro – Servo Control:

Set up circuit like this: 

Figure 3: Physical Set Up

MPU6050 Wiring:

  • SCL – A5
  • SDA – A4
  • VCC – 3.3V
  • GND – GND
  • INT – PIN3

Servo Wiring:

  • VCC – 5V
  • GND – GND
  • Control – PIN3

 

  1. Download this Code: https://drive.google.com/file/d/0B0SU0douW9lVenJ0Vng0QlEyUDQ/view
  2. In order for the sketch to work you will need to install i2cdevlib library to Arduino library folder:https://github.com/jrowberg/i2cdevlib
  3. Bring the MPU close to servo
  4. Move MPU around to see the servo around moving around

Watch this video as reference: https://www.youtube.com/watch?v=vSKEH0FwhUE

Results

Figure 5: Output of the Calibration code

The calibration tells the x,y,z directions of the gyro.

Figure 6: servo arm moves at the same time as the gyro

It is sort of hard to tell from the picture, the servo arm moves depending on the change of position of the gyro just to be aligned with it.

Conclusion

From this research, we can see the Gyro can be useful in our balancing mechanism since we can control the directions the servos move. From the research, we can see how the Gyro can be calibrated when we move it around. We are planning to do more testing regarding our balancing mechanism for a future task using the Gyro.

Reference

  1. https://github.com/jrowberg/i2cdevlib
  2. https://www.youtube.com/watch?v=GjHxwDLBh00
  3. https://www.youtube.com/watch?v=vSKEH0FwhUE
  4. http://fritzing.org/projects/arduino-uno-gy-521
  5. https://maker.pro/arduino/tutorial/how-to-control-a-servo-with-an-arduino-and-mpu6050