Archive for category: Members and Communities

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

May 14, 2018/in Biped Generation #5/by Miguel Gonzalez

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.

Spring 2018 3DoT Hexy: Level 1 and Level 2 Requirements

May 13, 2018/in 3Dot Spiderbot Generation #2, Spiderbot/by Eduardo De La Cruz

By: Raymundo Lopez-Santiago (Mission, System, and Test)

Verified by: Eduardo De La Cruz (Project Manager and Manufacturing Engineer)

Approved by: Miguel Garcia (Quality Assurance)

Table of Contents

Update 04/26/18

After several meetings with the customer, the requirements have been updated to reflect changes. For future reference, follow the format for requirements from the stakeholder’s expectations located here

Introduction

This blog post covers 3DoT Hexy’s Level 1 and Level 2 Requirements. 3DoT Hexy will follow the stakeholder’s expectations which include mission objectives and mission constraints defined here. Requirements stated in this blog post follow the numbering conventions as: C-xx is used for all common requirements for all projects under The Robot Company. L1: xx is used for all Level 1 requirements specific to 3DoT Hexy. L2: xx is used for all Level 2 system and subsystem requirements specific to 3DoT Hexy.

Level 1 Requirements

Level 1 Program Requirements

C-01:

In accordance with the spring 2018 final schedule, the project shall be completed by May 8th, 2018 and shall be prepared for a demonstration on the linoleum floor of ECS 316 on May 15th between the hours of 10:15 am – 12:15 pm.

C-02:

Documentation for the project shall be completed a week prior to the day of demonstration (May 8, 2018).

C-03:

The robot will be designed to be a toy for people ages 8+.

C-04:

In order to minimize manufacturing and packaging cost, the robot shall be able to be constructed from subassemblies within 10 minutes.

C-05:

For simplicity, disassembly of the robot shall be 10 minutes.

C-06:

The robot will be remotely controlled wirelessly via Bluetooth using the ArxRobot Android or iPhone application.

C-07:

The robot will need to navigate remotely through a custom-built maze (built by AoSa image), memorize the path it took, and autonomously travel through the path it took.

C-08:

Video support during autonomous navigation will be provided via the Arxterra control panel.

C-09:

The robot shall have a live VR feed via the Arxterra control panel.

C-10:

The robot shall avoid collisions if it encounters other robots while navigating through the maze. This involves detecting the robot, retracing steps back, and moving to a room that allows the other robot to have a safe passage.

C-11:

For quick production of the prototype, the preliminary project shall be restricted to six hours of total printing time with a 2 hours limit for each single print (2/2/2/ 6 rule).

C-12:

The robot shall use a v6.43a 3DoT board.

C-13:

The robot shall demonstrate the capabilities of the 3DoT micro-controller for DIY hobbyists.

C-14:

The robot shall be designed in such a way that there are no dangling or exposed wires.

C-15:

The robot shall incorporate 3D printed parts to demonstrate the feasibility of the 3DoT board for 3D printed robots.

C-16:

For good construction techniques, all moving parts and rotating parts shall use bushings or bearings.

Level 1 Project Requirements

L1-1:

The robot shall use sensors to: detect non-navigable and navigable obstacles (i.e., robots) disrupting their path, for intersection detection, and for either line following or hedge following.

L1-2:

To keep cost down, and keep as a toy aspect, the robot shall use only 2 micro motors to drive the movement of the robot.

L1-3:

The robot shall be designed in a way to cost less than $250.

L1-4:

The robot shall have a custom PCB as platform to build from and will incorporate peripherals for sensors.

L1-5:

The robot shall have a chassis large enough to house a 3×7 cm 3DoT board.

L1-6:

The robot will weigh no more than 450 grams.

Level 2 Requirements

System

L2-1:

Communication to the robot will be through the BLE Bluetooth module.

L2-2:

The robot shall use a single RCR123A 3.7 V, 650mA rechargeable Li-ion battery to power the 3DoT board, which will power the drivetrain and all attached peripherals.

L2-3:

The robot shall use three Light sensors and three IR LEDs connected to a custom sensor PCB to handle intersection detection and for either line following or hedge following.

L2-4:

The robot shall use a Parallax Ping ultrasonic sensor ((detect other robots) to handle robot avoidance.

L2-5:

The robot shall use 3D printed chassis and legs. This follows from the project level requirement about using 3D printed parts.

L2-6:

The robot will use a cam system identical to that of 3DoT David to drive the movement of the legs while navigating through the maze.

L2-7:

The robot shall use 2 micro guard motors to drive the motion of the robot.

L2:8

The robot shall incorporate 6 legs in the design of the drivetrain to improve stability while moving, to support its own weight and to mimic the behavior of a spider.

L2-9:

The robot shall have a cover to assist in the wire management and to give it a spider feature.

L2-10:

The robot shall have (2) LEDs acting as eyes of the spider.

Sub-System

L2-4a:

The Ultrasonic sensor shall have a range of 10 centimeter to 25 cm to detect and respond accordingly to non-navigable and navigable (i.e., other robots).

L2-5a:

The robot shall use PLA or ABS filament in the fabrication of the chassis and legs. This will minimize the mass of the robot, while at the same time being strong enough to hold its weight.

L2-6a:

Gears shall have a gear capture system to prevent them from popping (main issue encountered in 3DoT David design). This ensures the cam system will work without fear of popping gears.

L2-8a:

The robot shall operate in a tripod form, having three legs (2 outer in one side and middle leg in the other side) to provide stability while moving.

Conclusion

3DoT Hexy follows the program objectives defined by the customer. Several revisions for the Level 1 and Level 2 requirements were made after meeting with the customer and clarifying details on certain topics. A recommendation for future MSTs is to meet with the customer on a frequent basis to clarify any questions regarding customer expectations or mission constraints.

References

Spring 2018 3DoT Hexy System Cable Tree

May 13, 2018/in 3Dot Spiderbot Generation #2, Spiderbot/by Eduardo De La Cruz

By: Raymundo Lopez-Santiago (Mission, System, and Test) & Kris Osuna (Electronic and Controls)

Verified by: Eduardo De La Cruz (Project Manager and Manufacturing Engineer)

Approved by: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

This blog post covers 3DoT Hexy’s cable tree design. 3DoT Hexy will use a total of 29 wires to connect to peripherals from the custom sensor PCB. The final cable tree design is shown in Fig. 1 (side view). The orange lines indicate the use of black spiral wrap protective sheathing which provides cable protection and flexible routing for all wires used. The rest of the wires (ribbon) are bundled according to their routing destination with black shrink tube. An example is packaging 4 wires (SDA, SCL, 3.3V, and GND) for each light sensor. See Fig. 2 for a visual.

Update May 08, 2018

Fig. 1: Side view of 3DoT Hexy: Cable Tree (colored using Lucidchart)

Ten wires will be bundled inside spiral wrap and routed to the bottom part of the robot for the two micro metal motors and the three IR LEDs. Nineteen wires will be bundled inside spiral wrap and routed to the top part of the robot for two red LEDs, an ultrasonic sensor, and three light sensors. Wire clips will be used keep spiral wrap intact while routing wires for peripherals. This is represented as gray dots in Fig. 4.

Fig. 2: Package of 4 wires (SDA, SCL, 3.3V, and GND) for each light sensor

Fig. 3: Final decision on wire designation

The 3DoT board will have female type connector (8 pins) to connect to the custom PCB sensor board’s 90-degree connector (8 pins). The gyroscope sensor and 4-channel I2C expander are integrated into the custom sensor PCB. The rest of the peripheral devices with information on length and number of wires used are as follows:

Adafruit Light Sensor Si1145 (x3) – 12 wires @ 15 cm length
Parallax Ping Ultrasonic Sensor (x1) – 3 wires @ 15 cm length
Red LEDs (x2) – 4 wires @ 13cm length
Micro Metal motor FIT0481(x2) – 4 wires @ 19 cm and 28 cm length
IR LEDs (x3) – 6 wires @ 25 cm length

In Fig. 4, the initial wire designation for each peripheral device used is shown. In that revision, a total of 26 wires was to be used. After exploring other design solutions, a final representation for 3DoT Hexy’s peripherals with the number of wires used can be seen in Fig. 1.

Fig. 4: Initial wire designation approach

Conclusion

Based on our design, it did require a lot wires which caused some issues when integrating all of them to their final position/destination. One main problem was with the positioning of the three-light sensors. A recommendation for a design improvement is to integrate the light sensors into the custom sensor PCB and place the PCB at bottom front bracket. The issue that needs to be further looked at is the 30-degree angle needed for the IR LEDs and the positioning so they maintain that angle. Another recommendation is start the design of the robot by first thinking about the wiring route and possibly integrating 3D printing wire assist clips to ease in the final product wiring.

References

Spring 2018 AT-ST Gyro

May 13, 2018/in 3Dot AT-ST/by Intiser Kabir

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:

Connect the gyroscope to the Arduino using the fritzing diagram (Figure 1).
Download the MPU6050 and I2Cdev libraries in the GitHub link in the references below.
Copy the MPU6050 and I2Cdev folders into the Arduino libraries.
Now open up the MPU6050_DMP6 file in Arduino under examples.
Make sure the board and port are selected. Verify and upload the code to the Arduino.
Open up the serial monitor and set the Baud rate to at least 15000.
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

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

Spring 2018 AT-ST Custom PCB Layout/Design

May 13, 2018/in 3Dot AT-ST/by Intiser Kabir

By: Shweta Hebbalkar (Electronics and Controls – Hardware)

Verified By: Intiser Kabir (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

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 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 lined and pads that connect various points together.

Transformation #1

The first thing I ever built in the Eagle CAD is the flowing figure, a schematic and PCB layout. In the figure one the schematic is for the op-amp amplifier I followed this schematic from the workshop that was directed by Chris and others. Creating the PCB layout was easy to follow basically I moved all the components into the black box and then AutoRoute the trace.

Figure 1: Schematic

Figure 2: PCB #1

Figure 3: Frontside of PCB #2

In the picture above, there are traces that electrically connect the various connectors and component to each other. A PCB allows signals and power to be routed between physical devices.

Transformation #2

After two weeks of refining my skill in Eagle CAD with help of the Chris and others at the workshop. I was finally started designing my very first custom PCB layout schematic. When I was designing the circuit, it took me four days to find the library that I need it to create the custom PCB layout. Eventually, I was successful to get all the all the library that I need it, for example, the ultrasonic sensor the gyroscope and i2c expander as shown below in schematic and the board.

Figure 4: Iteration #2 schematic

In fig 4 the schematic was just placed on the template thinking that they will be all connecting in the board.

Figure 5: PCB layout

In Fig 5 the board layout, I placed all the components in the black box and then arranged in preferred to make it in compact space due to requirement. Afterward, I try to route the i2c expander with an ultrasonic sensor. In conclusion, from these we all understand that I need more practice then I thought and also need more clear instruction as well.

Transformation #3

In order to send in the custom PCB layout to print, I have to illustrate my board to get approval from our Customer. Which is very useful because professor Hill helped me the lot to make my board even more efficient. For example, the routing line has to be the 45-degree angle and it should be the clean line. If I am using polygon plane the top one supposed to be ground and the bottom one should the source. Always make sure to have the right parts if not then I redo the board design. According to the team consensus, we decide that we are going to make our PCB as the front shield.

Though this images below is my final version before getting approval. I had to go through many iterations. I had to connect all the lines in the schematic and I have to make it look easier to read for others.

Figure 6: New updated Schematic

Figure 7: Updated PCB

Unfortunately, we did not inform our professor that we are changing our custom PCB from top shield to the front shield. Still, the images above and I went with and I design our PCB. Then After emailing professor this board to get approval from our professor however he emailed me back saying that why am I using the front shield. Then I respond to him saying that we need to use the analog pin, therefore, we are using the front shield. However, the professor said we don’t need to use analog pin we need digital pins and that pin is given in the top shield so I have to redo the custom PCB again.

In conclusion, we did not inform the customer beforehand with my design. Which means that I need I made myself double the work. The more time I spent with design PCB, I became more cautious because we would have to save time and print the board right away because printing board takes a lot of time.

Transformation #4

After getting some feedback from Customer, I already lost a big amount of time, which means that I get to have less time printing board, however, I started designing the top shield. With many changes like the routing and the get the right parts package size for schematic chaining any specifications according to professor liking I get approval the image below.

This is schematic is final schematic after many variations.

Figure 8: Finalized Schematic

The final PCB board that we send it to OSHPARK to print.

Figure 9: Finalized Custom PCB

Maintaining low expectation with my first board design because they had lots of problems and the final was my 25th board design that had the fewer error. The schematics are important and trying to design a board with a good schematic in place first is an exercise in futility.

In conclusion, I have learned lot more from Hill then division manager although they were helpful, mostly it is our job own responsibility to learn the eagle software.

Goliath Spring 2018 – Mock Up Motor Under Load

May 13, 2018/in Goliath Generation #4/by Ernie Trujillo

By: Ryan Nguyen (MST Engineer)

Verified By: Ernie Trujillo (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Test Description

A mock-up motor under load test was performed to determine how much current the Goliath’s motors would draw while being put on mock loads, which were weights. Since the amp-meter has a large resistance, direct current measurement was not possible, as only a very small amount could flow through and the motors didn’t even turn. In place, a voltage measurement was taken over a 100-ohm resistor to determine the current of the motors. The motors would lift the weight, hung on a gear, and the highest voltage is recorded. Testing stopped when the weight reached 80 grams, any more than that the motors would not move. 80 grams per motor is quite good as the Goliath robot would probably weigh between 150 – 200 grams. The test also suggested that the maximum current pull from motors are about 35 mA each, which is useful for the power budget.

Figure 1 – Table displaying voltage and current values of both motors at varying loads.

Resources

Goliath Fall 2017 Mock-up Motor Test

Goliath Spring 2018 – Custom Shield Layout

May 13, 2018/in Goliath Generation #4/by Ernie Trujillo

By: Milton Ramirez (E&C Engineer)

Verified By: Ernie Trujillo (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

This blog post will go over all the different iterations for the PCB layout for Goliath.

Eagle Layouts

Figure 1. Layout for the Gyro PCB

This design was just a rework of the ITG-2200 breakout, to fit on top of the 3DoT board. All the capacitors and resistors are connected to ground and are paired together so that it could look nice. Same goes for all of the capacitors and resistors connected to voltage source 3.3V. This layout is also using an old set of pins that have SCL on the right side of the connectors and SDA on the left side. The top layer is connected to ground while the bottom layer is connected to 3.3V

Figure 2. UV Sensor board.

This board connects two UV sensors to a multiplexer, which connects to the SDA and SCL of the 3Dot board. The multiplexer is on the bottom layer of the board. This was done to make space on the top layer. All the resistors that were connected to their respective part were placed together. For example, resistors R1, R4, and capacitor C1 are placed next to U4. The six pins were placed on top so they can connect to the six pins on the bottom of the 3dot. This was an earlier design of the 3dot since the new 3dot has 8 pins now. Same as the gyro, which the top layer is connected to ground and bottom is connected to 3.3V.

Figure 3. The final board design for the Goliath PCB.

The final layout combines the previous two layouts. In this layout, the connectors on top are for the path-finder breakout board. The connectors on the side are the so that our PCB can be mounted on top of the 3dot board. The UV sensors are spaced at 1.7cm. The LEDs are both placed under the UV sensors so that the best possible readings from the UV sensors can be obtained. The capacitors C1, C2, and C5 are all coupling capacitors and are placed as close as possible to the voltage pins of the two UVs and Gyro. The I2C expander from the previous design was replaced with the 2 address I2C multiplexer PCA9540BDP. The pull-up resistors, the range-finder connectors, Gyro and I2C share were replaced with a resistor array to make more space on the top left side. This helped because the SDA and SCL pins are on the top left side and needed as much space as possible since the I2C, Gyro, and range-finder are all connected to those same pins. The top layer of the PCB is grounded while the bottom layer is connected to the voltage source 3.3V.

These next two figures are earlier designs of the final design since this is the version that went through many iterations.

Figure 4. The first iteration of the final PCB.

This circuit used an 8 address multiplexer and had a set of pull-up resistors for both the multiplexer and gyro. The coupling capacitors are also not where they’re supposed to be. Also, this design was still using the 8 address I2C. Since this chip was big, it was placed in the bottom layer to make space for the rest of the parts. The LED’s are also missing in this iteration.

Figure 5. Another iteration that was closer to the final design. One notable difference from this design is that I tried to use connectors for the LEDs. This iteration has the 2 address I2C and the resistor array added.

Parts Required

Figure 4. Final Parts list for the PCB

Conclusion

The PCB was approved April 21, 2018. Was ordered on April 26, 2018, and will arrive May 5, 2018.

References

Goliath Spring 2018 – System Schematics

May 13, 2018/in Goliath Generation #4/by Ernie Trujillo

Written by Milton Ramirez (E&C PCB Engineer)

Verified by Ernie Trujillo (Project Manager)

Approved by Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

These are the schematics from the multiple PCB boards that were designed for the Goliath. The PCB schematics consisted of a gyro shield, a UV shield, and the final design which combined the previous two designs.

Schematics

Figure 1. Gyro Shield Schematic

This schematic is an exact copy of the ITG-2200 breakout board schematic. The only difference is the two 8 pin connectors. This was done so that it can go mounted on top of the 3dot board. The gyro connects to the SDA and SCL pins in the connectors.

Figure 2. UV Sensor Shield Schematic

This schematic has a 6 pin connector that the I2C expander connects through the SDA And SCL pins. The first UV sensor is connected to the SCA0 and SCL0 pins in the I2C expander, and for the other UV sensor, the SDA, SCL, SDA1, SCL1, SDA0, and SCL0 pins have pull-up resistors. Finally, there is one LED to find the UV sensors to read the lines in the maze.

Figure 3. Final PCB Schematic

Figure 4. Close-up of the left side of the schematic for the final PCB.

Figure 5. Close-up of the right side of the schematic for the final PCB.

Conclusion

In the end, we scrapped the last two designs and combined them into one PCB. This PCB connects SDA and SCL to the I2C expander and the gyro sensor. This time we added connectors on the board for range-finder which also connects to SDA and SCL pins. Since all three of these are connected to the same SDA and SCL, there is only one pair of pull up resistor for all three parts. This pull-up resistor was also replaced with a resistor array. The I2C expander was changed from 8 addresses to 2 addresses since we only need two for the UV sensors. The gyro lost the jumper, which was designed just in case we needed to connect an external clock. Two LEDs were added since it makes it easier for the UV sensors to read the line if each sensor has its own LED.

References

Spring 2018 AT-ST Work Breakdown Structure (WBS)

May 11, 2018/in 3Dot AT-ST/by Intiser Kabir

By: Intiser Kabir (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

The idea of the WBS is to breakdown who does what for the project. The Project Manager assigns all tasks to the group and divides the work into who is the best fit for the job as well list out the tasks from the task matrix. WBS looks like a flowchart that shows where each specific task goes to per division.

WBS

Figure 1 Workbreak down structure

Description

The idea of the WBS is the breakdown who does what for the project based on the task matrix and job description. It is broken down to each division the task belongs to. Some people within groups also volunteer to task outside of their specialty or working with others. So the breakdown is structured around this. This WBS will be used to help create PBS.

References

Solar Panel Charging

May 11, 2018/in Pathfinder Generation #5/by Jordan Smallwood

By: Mohammad Yakoub (Mission, Systems, and Testing)

Verified By: Jordan Smallwood (Project Manager)

Approved By: Miguel Garcia (Quality Assurance)

Table of Contents

Introduction

The objective of this blog post to find a way to charge the main battery with the solar panel cells. There are different ways to go about this, but I found that the best way for our project is to use a charge controller. This way we can make sure that we do not overcharge the battery with our solar panel.

The specific charger we are using is called The xcsource Solar charge Controller. This specific one is purchased from amazon.

Figure 1: Top View of Charge Controller

A charge controller is basically a voltage/current regulator to keep batteries from overcharging. It regulates the voltage and current coming from the solar panel going to the battery. Most solar Panels supply more voltage than rated, because these panels need ideal conditions to be able to provide full power, and those conditions are impossible to meet. The panels are designed to provide power than rated, so it can still function in less than ideal conditions. So without regulating the solar panel The battery can be damaged from overcharging.

How it Works

The way that works is we connect the solar panel and the battery to the charge controller. The charge controller will charge the battery and power our components. The charge controller will charge the battery until the it reaches a full charge and as the battery charge gets higher the controller will reduce the solar panel output to avoid overcharging the batteries. Once the battery is nearly full, the charge controller only sends a trickle charge to top off the batteries without overcharging them. This process is known as the off grid charging. An alternative process is to allow the solar panel to supply power to our components directly, but that is not as efficient, and will not be able to supply enough energy for the motors. When the battery reaches a full charge the controller will switch the power output of the solar panels to a dedicated load, such as a light or heating filament.

Figure 2: Typical connection of Solar Panel – Battery Controller

Conclusion

As mentioned earlier the charge controller is mainly used to prevent overcharge, and improving charge quality. But that is not the only advantage of using the charge controller, it can also prevent battery discharge in low or no-light conditions. Discharging can happen when the sunlight goes out the battery will discharge to heat the solar panels. However, the charge controller will detect the batteries discharging and disconnect the panels, to prevent the discharging of the battery. This can also be achieved by using solar panels with blocking diodes that prevent battery discharge during low or no-light conditions, but such systems are not as efficient when using high power solar panels.