Team:Sherbrooke/Notebook

Notebook

Winter 2015 Summer 2015 Fall 2015

To ease project management, the BIOBOT team was separated in two distinct team that we called Instrumentation and Mechatronix. BIOBOT - Instrumentation was in charge of the TAC, MC1.5, MC96 and Main Controller. BIOBOT - Mechatronix was in charge of the robotic platform, tool holder, pipettes, centrifuge and BananaBoard. Here is a calendar of the work done, objectives and problems encountered for both team, for each week since the beginning of the project. Although the whole team was managed as two, some of the work needed to be, and was, executed by the two teams.

 

Week 1 (January 14 to January 21)

Instrumentation

  • Done This Week
    • Each part of the Project Overview Statement (POS)
  • Objectives for the Next Week
    • Assembling the Project Overview Statement
    • Starting to acquire knowledge
    • Starting to build the robot platform
  • Problems encountered
    • Assignment of the POS's parts to team's members
    • Internal communications not efficient (Too much posts on the Facebook wall)

Mechatronix

  • Done This Week
    • Definition of modules specifications
    • Choice of project management software. The web-application LiteManagement, developed by our team member Dave was chosen.
  • Objectives for the Next Week
    • Starting to build the robot platform
    • Acquires technical knowledge for each modules
    • Writing of template of the Project indentification memorandum (PIM)
  • Problems encountered
    • Dispatch of the workload between team members

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Week 2 (January 22 to January 28)

Instrumentation

  • Done This Week
    • Assembling the Project Overview Statement
    • Thinking about an efficient way to organise internal communications
    • First mechanical designs of the modules
    • First experimentations done on Peltier elements
  • Objectives for the Next Week
    • First experimentations on magnets
    • Starting to write individual parts of the Project Management Plan (PMP)
    • Optic density circuit board up and running
  • Problems encountered
    • No problem encountered

Mechatronix

  • Done This Week
    • Identification of the different part of the project
    • Prefeasability study of the project
  • Objectives for the Next Week
    • Build and test the robot plateform
    • Preliminary design of the centrifuge
    • Preliminary design of the gripper
    • Preliminary design of the tool support
  • Problems encountered
    • Low investment in hour from our team members
    • Misunderstanding of some parts of the deliverables

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Week 3 (January 29 to February 4)

Instrumentation

  • Done This Week
    • Preliminary mechanical design of the MC96
    • Finalizing the research on Peltier elements and photoreceptors
    • Choosing microcontroller used in each modules
  • Objectives for the Next Week
    • Continuing experimentations on magnets
    • Starting to write individual parts of the Project Management Plan (PMP)
    • Optic density circuit board up and running
    • Starting to order pieces for first prototypes
  • Problems encountered
    • Disagreement with Mechatronix team about the microcontroller choice
    • Machining of some metal parts are too complex for university's tools

Mechatronix

  • Done This Week
    • Installation of the robot platform
    • Preliminary research for the centrifuge module
    • Preliminary research for the tool holder module
  • Objectives for the Next Week
    • Preliminary conception of the centrifuge
    • Preliminary research for the tool holder
    • Preliminary research for the gripper
  • Problems encountered
    • Poor management of the documentation
    • Documents quality issues
    • Disagreement with Instrumentation team about the microcontroller choice

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Week 4 (February 5 to February 11)

Instrumentation

  • Done This Week
    • Experimentations and order of magnets
    • Modeling of the turbidity function
    • 3D modeling of all modules
    • Heat transmission simulation of the TAC
    • Split the Project Management Plan (PMP) into individual parts
    • Correction of the individual parts of the Project Overview Statement (POS)
  • Objectives for the Next Week
    • Starting to write individual parts of the Project Management Plan (PMP)
    • Assembling the corrected parts of the Project Overview Statement (POS)
    • Heat transmission simulation of the MC96 and MC1.5
    • Order Peltier elements
    • Peer review of team's performance
  • Problems encountered
    • Difficult choice between multiples 3D designs for the MC96
    • Difficult choice between different types of magnets, due to many constraints (mecanical and physical)

Mechatronix

  • Done This Week
    • Needs analysist of the centrifuge
    • First preleminary design of the centrifuge
    • Research of the available technologies for the centrifuge
    • Research of the different motor types available
    • Research of the different types of sensor for the gripper
  • Objectives for the Next Week
    • Preliminary conception of the gripper
    • Research and definition of the communication protocol between the modules
    • Installation of the motors for the X-Y displacements of the plateform
  • Problems encountered
    • Delivery delays of some parts of the platforms
    • Indecisive choice for the programmation languages

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Week 5 (February 12 to February 18)

Instrumentation

  • Done This Week
    • Starting to write individual parts of the Project Management Plan (PMP)
    • Assembling the corrected parts of the Project Overview Statement (POS)
    • Heat transmission simulation of the MC96 and MC1.5
    • Peltier elements received and characterized
    • Peer review of team's performance
  • Objectives for the Next Week
    • Finishing Heat transmission simulation
    • Starting electrical plans for the TAC
    • Finishing Project Management Plan (PMP)
    • Midterm project audit
  • Problems encountered
    • Courses overload for 4 members of the team

Mechatronix

  • Done This Week
    • Choice of the microcontroller: Psoc5
    • Preliminary design of the gripper
    • Assembly of the motors on the platform for the X-Y displacements
    • Research on the available technologies for the centrifuge
  • Objectives for the Next Week
    • Complete the information research on the tool holder
    • Complete the preleminary conception of the gripper and centrifuge modules
    • Continue the conception and design the gripper and centrifuge module
  • Problems encountered
    • Some platform's parts needed a 3D reprint
    • Most team members were overwhelm by their courses

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Week 6-8 (February 19 to March 11)

Instrumentation

  • Done These Weeks
    • Electrical design of the H bridge for the Peltier element
    • First iteration of the User Interface
    • Peltier element heat transfert experimentation with an aluminium piece
    • Serial communication to the microcontroller
    • TAC function implemented on the microcontroller
  • Objectives for the Next Week
    • Build the H bridge circuit
    • Begin the electrical design of the module circuits
    • Adapt Psoc4 microcontroller code to Psoc5 microcontroller
    • Replace the air cooling system on the MC96 with a more powerful liquid cooling system
    • Communication USB to User Interface
  • Problems encountered
    • The heat sink does not sink enough heat from the Peltier element
    • First electrical design for the H bridge not conclusive

Mechatronix

  • Done These Weeks
    • Preliminary design of the gripper
    • Early detailed design of the of the gripper
    • First iteration of the Psoc code for the centrifuge
    • First iteration of the Psoc code for the gripper
  • Objectives for the Next Week
    • Start the detailed conception of the electrical circuit of the modules
    • Finish the preleminary designs of the gripper and the centrifuge
    • Mechanical modeling of the gripper and the centrifuge
  • Problems encountered
    • Tool holder design is more complex than anticipated
    • Too much weight on the tool holder cause unsage mechanical force on the robotic plateform

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Week 9 (March 12 to March 18)

Instrumentation

  • Done This Week
    • Simulation of Peltier Element electrical behavior
    • Adapt Psoc4 microcontroller code to Psoc5 microcontroller
    • 3D Design of the liquid cooling system for MC96
    • Second iteration of the User Interface after review
    • Programming of the Rasberry pi 2 in Python language
  • Objectives for the Next Week
    • Building the H bridge
    • Starting the PCB electrical design
    • Peltier element heat transfert experimentation with same aluminium piece as the TAC
    • Establish communication between User interface and microcontroller
  • Problems encountered
    • Aluminium piece for the TAC arrived late
    • No electrical simulation model for desired H bridge pieces

Mechatronix

  • Done This Week
    • Conception of the Gripper controller with the Psoc microcontroller
    • Conception of the Centrifuge controller with the Psoc microcontroller
    • Determination and acquisition of the centrifuge motor
    • Detailed design of the centrifuge module
    • Interface of the Dynamixel motors with the Psoc microcontroller for the gripper
    • Interface of the coordinator (RasberryPi) with the SmoothieBoard
  • Objectives for the Next Week
    • Continue the electrical circuit design (PCB)
    • Finish the interface of the coordinator with the SmoothieBoard
    • Start the CAN communication interface between the module
    • Design the fixation of the gripper on the tool holder
  • Problems encountered
    • The first choice of motor for the centrifuge was back order
    • Communication problems between the coordinator (RasberryPi) and the plateform controller (SmoothieBoard)
    • Difficulties with the adaptation of the different interface/languages of the different parts of the project (main interface, database, etc.)

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Week 10 (March 19 to March 25)

Instrumentation

  • Done This Week
    • Adapt PWM output of the H bridge to a steady DC level for Peltier element
    • First TCP communication between User interface and Rasberry Pi 2
    • Peltier element heat transfert experimentation with same aluminium piece as the TAC
    • Starting Programmation of the Rasberry pi 2 in Python language
  • Objectives for the Next Week
    • Design a PCB to adapt the Banana Board output for Peltier element
    • Peltier element heat transfert experimentation with same aluminium piece as the MC1.5
    • Establish communication between User interface and microcontroller
  • Problems encountered
    • New Peltier elements are not yet arrived

Mechatronix

  • Done This Week
    • First iteration of the Printed circuit Board for the modules, the BananaBoard
    • Fine tuning of the platform controller for each axis displacement
    • Tests on the centrifuge's motor
    • Implementation of a SPI to CAN convertor for the coordinator
  • Objectives for the Next Week
    • Continue the electrical circuit design (PCB)
    • Redaction of an scientific article about our whole project
    • Validate the CAN communication protocol
    • Finish the mechanical design of the centrifuge
  • Problems encountered
    • Unable to implement more than one Z axis on the robotic plateform
    • Lack of documentation on the motor centrifuge
    • Driving the brushless motor of the centrifuge is harder then expected

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Week 11 (March 26 to April 1)

Instrumentation

  • Done This Week
    • Meeting with Acrolab Ltd. to discuss about heat pipe prototyping for the MC96
    • Improving User interface
    • Improvement of the 3D design of the MC1.5
    • Programmation of the Rasberry pi 2 in Python language
    • Starting the scientific paper about the project
  • Objectives for the Next Week
    • Design a temperature control algorithm for the TAC
    • Implementing the turbidity function in the TAC
    • Programming the microcontroller for the TAC
    • Ending the improvements of the 3D design of the MC1.5
    • Continuing the scientific paper about the project
  • Problems encountered
    • Heat pipes very expensive (about 90$ per heat pipe)
    • Heat sinks are not yet arrived
    • Holes in the aluminium piece for the MC1.5 are too tight for the 1.5 ml tube

Mechatronix

  • Done This Week
    • First manipulation with the robotic plateform using the 3 axis of displacement
    • Fonctionnal SPI communication within the SPI to CAN convertor
    • Validation of the max RPM required with the centrifuge's motor
  • Objectives for the Next Week
    • Finish the conception of the BananaBoard (PCB)
    • Programming and tests of the Psoc controller for the gripper
    • Programming and tests of the Psoc controller for the centrifuge
    • Order missing parts of the centrifuge and tool holer
    • Write the address tables for the CAN bus
    • Finish the redaction of the scientific article
  • Problems encountered
    • Delay in the conception of the BananaBoard (PCB)
    • More functions and parts than planed for the BananaBoard which had to be added

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Week 12 (April 2 to April 8)

Instrumentation

  • Done This Week
    • Writing of the scientific paper
    • Prototype circuit for the turbidity function of the TAC
    • Implementation of the turbidity algorithm in C language
    • Shopping for a new linear actuator
    • Modeling of the thermal system of the TAC
    • Improving User interface
  • Objectives for the Next Week
    • Design a temperature control algorithm for the TAC
    • Implementing the turbidity function in the TAC
    • Programming the microcontroller for the TAC
    • Finishing the writing of the scientific paper
  • Problems encountered
    • One Peltier element was faulty
    • The remaining Peltier element emit too much heat for the available heat sinks
    • Problems with the Psoc5 libraries

Mechatronix

  • Done This Week
    • The BananaBoard (PCB) design is complete
    • User interface in C# for the gripper
    • Controller for the gripper with the Psoc is complete
  • Objectives for the Next Week
    • Validate the BananaBoard design
    • Order the BananaBoards
    • Write the address tables of the CAN bus
    • Detailed design of the tool holder
  • Problems encountered
    • Ordered parts back order which cause delivery delays
    • Delays in the design of the tool holder
    • Different action of the tool holder more complex than anticipated

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Week 13 (April 9 to April 15)

Instrumentation

  • Done This Week
    • Writing of the scientific paper
    • Calibrating the turbidity measurements in the TAC
    • Preparing the end of session project audit
    • Shopping for a new linear actuator
    • Correcting the 3D design of the TAC
    • Correcting the 3D design of the MC1.5
    • Improving User interface
  • Objectives for the Next Week
    • Design a temperature control algorithm for the TAC
    • End of session project audit
    • Integrating multiple functions of the TAC on the microcontroller
    • Finishing the writing of the scientific paper
    • Peer review of team's performance
  • Problems encountered
    • End of session exams

Mechatronix

  • Done This Week
    • Validation and corrections of the BananaBoard design
    • Test and proof of functionality of the gripper
    • Machining of the centrifuge mechanical parts
    • Revision of the design of the tool holder
  • Objectives for the Next Week
    • Design review of the BananaBoard
    • Finalizing the Psoc controller for the centrifuge
    • Order and assemble the parts for the new design of the tool holder
    • Write the address tables of the CAN bus
  • Problems encountered
    • Most team member start their final exams
    • The weight of the plateform is too high and unevenly distributed

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Summer 2015 (April 16 to August 26)

Instrumentation

  • Done during Summer
    • Implementation of the database for the protocols and the modules functionalities
    • Help Mechatronix to built the second iteration of the platform
    • Communication between the database and the User interface
    • Minor reworking of 3D models for all modules
    • MC1.5 test tube aluminium mold received
    • Implementation of individual function on the TAC
  • Objectives for the Next Week
    • Platform functional
    • Implementing CAN communication
  • Problems encountered
    • Half team's members were out of Sherbrooke for summer (internship)

Mechatronix

  • Done during Summer
  • Objectives for the Next Week
  • Problems encountered

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Week 14 (August 27 to September 2)

Instrumentation

  • Done This Week
    • Platform assembled
    • Testing power supply for the modules
    • 3D printing of the MC1.5
    • Recording on the EEPROM of the microcontroller
    • Temperature control calibration implemented
    • Data base in the program implemented
  • Objectives for the Next Week
    • Implement CAN communication
    • Program banana board
    • Populate data base
  • Problems encountered
    • Pieces missing for the platform

Mechatronix

  • Done This Week
  • Objectives for the Next Week
  • Problems encountered

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Week 15 (September 3 to September 9)

Instrumentation

  • Done This Week
    • Communication established between the PC and the plateform
    • CAN communication implemented on the banana board
    • Adaptation of a 3D printer controller for the control of the platfrom
    • Attempt to "home" the Z axis
    • Ajusting the screw shaft for the X and Y axis
    • Link between the database and the user interface
  • Objectives for the Next Week
    • Execute an entire protocol on individual module
  • Problems encountered
    • No connector for programming the banana board microcontroller
    • No homing function implemented in the 3D printer controller

Mechatronix

  • Done This Week
  • Objectives for the Next Week
  • Problems encountered

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Week 16 (September 10 to September 16)

Instrumentation

  • Done This Week
  • Objectives for the Next Week
  • Problems encountered

Mechatronix

  • Done This Week
  • Objectives for the Next Week
  • Problems encountered

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