msd ii subsystem integration p15044 – intelligent mobility cane3/19/2015
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MSD IISubsystem Integration
P15044 – Intelligent Mobility Cane 3/19/2015
RIT MSD P15044 –Intelligent Mobility Cane
Agenda● Customer Feedback & Integration● Subsystem Overview● Subsystem Integration Overview● Risk Management● Project Plan & Budget● Looking Forward- 3 week plans● Peer Reviews & Lessons Learned
2
Customer Feedback and Integration
RIT MSD P15044 –Intelligent Mobility Cane
Low Profile Enclosure
4
RIT MSD P15044 –Intelligent Mobility Cane
Haptic Feedback• ABVI User Testing• Hard to distinguish individual vibrations
• Designing motor pulsing to mitigate• Test rig being implemented
5
RIT MSD P15044 –Intelligent Mobility Cane
Length of Cane• Testing indicated extended length not desirable
• Cost• Redesign time
6
Current State
RIT MSD P15044 –Intelligent Mobility Cane
Cost Drivers
8
Overall System Cost (Old)Subsystem Unit Cost per 1 Unit Cost per 1000
Electronic Components $46.51 $19.12Unmounted Electrical Components $99.65 $75.25Mechanical Structure Components $31.51 $11.22Miscellaneous Components $0.00 $0.00
TOTAL $177.67 $105.59
Overall System Cost (New)Subsystem Unit Cost per 1 Unit Cost per 1000
Electronic Components $46.51 $21.12Unmounted Electrical Components $99.65 $75.25Mechanical Structure Components $31.51 $11.98Miscellaneous Components $0.00 $0.00
TOTAL $177.67 $108.35
Even with design changes, we meet the required cost of <$125
RIT MSD P15044 –Intelligent Mobility Cane
Mechanical Current State
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RIT MSD P15044 –Intelligent Mobility Cane
Mechanical Current State
10
RIT MSD P15044 –Intelligent Mobility Cane
Electrical Current State
11
• First Revision boards assembled• All electrical hardware has been
debugged• Second Revision boards ordered
and shipped (3/18/2015)
RIT MSD P15044 –Intelligent Mobility Cane
Software Current State• All code is
written.• Waiting for new
board revision for debug.
• 4/9/2015 – start debug
Task Code Debug
Utilities
Write ADC Utilities 100% 0 %
Write PWM Utilities 100% 0 %
Write Timer Utilities 100% 0 %
Write EEPROM Utilities 100% 0 %
Detection
Write Dropoff Detection Algorithm 100% 0 %
Write Object Detection Algorithm 100% 0 %
Write Low Power Detection 100% 0 %
Control
Setup 100% 0 %
Main Control Flow 100% 0 %
Event Handlers 100% 0 %
OtherPing The Ultrasonic Sensors 100% 0 %
Pulse Vibration Motors 100% 0 %
Subsystem Validation
RIT MSD P15044 –Intelligent Mobility Cane
Validation Matrix
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Link to the Validation Matrix in EDGE
RIT MSD P15044 –Intelligent Mobility Cane
COMSOL Simulations
15
RIT MSD P15044 –Intelligent Mobility Cane
Crosstalk Testing
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2 4 6 8 10 12 14 16 180
50
100
150
200
250
300
350
400
R² = 0.980118493777089
Cross Talk Test, 4 ft
Sensor 2
Linear (Sensor 2)
Object 2 Distance (ft)
AD
C R
ead
ing
s (1
0 b
it)
2 4 6 8 10 12 14 16 180
50
100
150
200
250
300
350
400
R² = 0.98240962848521
Cross Talk Test, 10 ft
Sensor 2Linear (Sensor 2)Sensor 1
Object 2 Distance (ft)
AD
C R
ead
ing
s (1
0 b
it)
RIT MSD P15044 –Intelligent Mobility Cane
Mechanical SubsystemProblem Tracking
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RIT MSD P15044 –Intelligent Mobility Cane
Electrical SubsystemProblem Tracking
18
IDCurrentStatus Priority
IssueDescription
Assigned ToOwner
System Affected
ExpectedResolutio
nDate
ImpactSummary
ActionSteps
IssueType
DateIdentifie
dEntered
By
ActualResolution
DateFinal Resolution
& Rationale1 Closed Critical Problems with PCB Foot print Dan, Justine Electrical
(Hardware)02/06/15 Budget Impact- however,
has already been planned in budget
Set date to order new after bug fixes have been made, so that it will not impact schedule
System 02/03/15 Justine 02/17/15 Set to order new board 2/17
4 Closed Medium
The connectors on the Main Board are too close to where the IR sensor will sit.
Dan,Marisa, Ben
Electrical (Hardware)
02/25/15 assembly and function
We'll need to either change where the connectors are on the board or change where the board sits in the housing
System 02/08/15 Justine 02/25/15 Transfered to Mechanical Team
8 Closed Low ABVI concern for size of enclosure Andrew, Marissa
Mechanical Electrical
03/08/15 Customer Satisfaction Cross talk testing (sat), imlempent design changes
System 02/12/15 Justine 03/12/15 Cross Talk Test proved low profile model would work, design changes are being implememted.
13 Closed Medium Wiring harness doesnt fit above processing board (see #4)
Andrew, Ben Electrical (Hardware)
03/03/15 Assembly Move board back in enlosure. System 02/12/15 Andrew 02/26/15 Moved board back .11", harness clears obstruction. See Rev D of IMC-201
20 Closed High Analog Readout of Ultra Sonic Sensors likes to jump around and will give correct values about half the time. Either is a timing issue or a cap is needed on the output.
Ben, Marisa Electrical (Hardware)
03/19/15 Function Add filter to output of the sensors, play with timing of when to read the analog value. If all else fails an average could be used to cut down on the error.
System 03/10/15 Ben 03/11/15 Arduino Digital Pin was not going LOW, causing crosstalk between sensors which caused the random weird readdings. Once timing and pinging was done correctly, there were very little speratic readings.
22 Closed Critical There is no Debug Port on the Processing Board
Dan Electrical (Hardware)
03/11/15 Assembly and Function Move Inputs around to make room for JTAG Port
Informational
03/07/15 Dan 03/08/15 Fixed in Schematic and BRD file. Re-ordered Boards
23 Closed High Soldering directly to the battery is hard, potentially unsafe, all around bad?
Dan, Ben, Andrew
Mechanical Electrical
Function (Robustness) Investigate BAttery Tabs, and other mounting options
System 03/03/15 Dan 03/14/15 New Battery Mount Board
Going Forward
RIT MSD P15044 –Intelligent Mobility Cane
Problems in Progress
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IDCurrentStatus Priority
IssueDescription
Assigned To
OwnerSystem Affected
ExpectedResolution
DateImpact
SummaryActionSteps
IssueType
DateIdentified
Entered By
ActualResolution
Date21 Work In
ProgressCritical Power switch too small. Toggling
power very difficult.Ben, Dan Electrical
(Hardware)03/19/15
FunctionTest out different press fit caps to elogate the power switch. Look for substitute swithces/buttons that can fit in the handle.
System 03/11/15 Ben
7 Work In Progress
High Hard to distinguish between vibrations on cane handle
Allan, Dan, Marisa
Mechanical Electrical
04/02/15 Function of Handle
Met with Vibration Expert (Dr. Ghoneim), purchased low stiffness rubber on Tuesday, 2/24/15, Experiment with pulsing motors,
Informational
02/12/15 Justine
11 Work In Progress
Medium PCB slots don't fit boards (power and processing)
Andrew, Allan
Mechanical 03/12/15 Assembly Make wider slots. Glue may be required on final assembly. Test sections and matrix have been designed, to be printed 3/5
System 02/12/15 Andrew
15 Work In Progress
Medium Stress concentration at corner of motor cutouts in handle makes handle prone to breaking under load
Andrew, Allan
Mechanical 03/12/15 Function (robustness/durability)
Add radius to corner. If that is insufficient, increase wall thickness. Ran simulation, discuss factor of safety with Andrew
System 02/19/15 Allan
19 Work In Progress
Low Drawing Tolerance too tight on flanges that mate Handle Sections together
Allan, Andrew
Mechanical 03/12/15 Function Open Slots or Narrow tabs System 03/15/12 Allan
RIT MSD P15044 –Intelligent Mobility Cane
Risk Management
21
RISK LIKLIHOOD SEVERITY TOTAL IMPACT MITIGATION PLANMITIGATION DATE
Overall lack of team "work" time 3 3 9
Implement three 4 hour sessions for weekends in April, in order to cover anything we need to get done by the end of the semester- ex documentation, posters, paper, etc.. Set for 4/5, 4/12 and 4/19. 4/5/2015
Not enough time to debug Software 3 2 6
Allocate remaining tasks that were previously on programmer to other team members so that debugging can be number one priority for Dan 4/5/2015
Shock causes electrical components to shift or fail 2 3 6Complete shock test 4/4/2015Too many false positives on our sensors 2 3 6Change positioning of sensors 4/4/2015Sensor Beam angles too large 3 2 6Testing in same configuration, use directing cones 4/4/2015Unforeseen loading/ shock causes failure 2 2 4More robust shock and load tests, computer simulations 4/4/2015
The processor is too slow 1 2 2Bump up frequency of processor extra 4 kHz 3/14/2015Redesign of the battery section with tabs makes the cane uncomfortable for user 1 1 1Accept
RIT MSD P15044 –Intelligent Mobility Cane
3 Week Plans3 Week Plans
22
RIT MSD P15044 –Intelligent Mobility Cane
ImagineRIT Obstacle Course
23
Featured Obstacles:5 ft Overhang5 ft Wall6 in Step(s)6 in Ramp/Drop Off
RIT MSD P15044 –Intelligent Mobility Cane
Project Plan
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RIT MSD P15044 –Intelligent Mobility Cane
Planned vs Actual Budget
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We are on track to be under our budget of $1000.
RIT MSD P15044 –Intelligent Mobility Cane
Lessons Learned
• Check test equipment before performing test• Be as critical as necessary during Peer
Reviews
26
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