Durgapavani Brundavanam

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My IP address: 130.18.64.189

Weekly report

• 06/06/2008

Plans for the coming week

1. Check the deadlines for the thesis
2. Document all the code till today using the Doxygen
3. Implement and check the results of multi section A matrix for the 10 section trunk.

• 03/06/2008

Plans for the week

1. Install MPLAB 810 (completely uninstall previous version of MPLAB) and c30 compiler (retain the previous c18 compiler)
2. compile the echo.mcp in svn+ssh://db548@svn.ece.msstate.edu:/data/robotics/svn-ece3724/trunk/PIC24/code
3. Install and run doxygen and review the documentation
4. Write unit test code for the multi section A matrix

• 07/17/2007

Plans for the week

1. Update the work done up to "07/17" to the SVN
2. Read the IEEE paper written by Dr.Jones on "Limiting-case analysis and Jacobian null-space control for continuum manipulators"
3. Work with the examples on Limiting-case available in SVN/Papers/In preparation/Limiting-case
   • Unzip filib++-dist2005.tar.gz
   • Copy and compile the batch file
   • Run the examples using Visual C++ command prompt

• 07/10/2007

Plans for the week

1. Test the Stepper motor code in h/w. Borrow the required h/w from Dr.Jones
2. Work with the Distance Sensor
3. Print the data recived from the Distance Sensor in MATLAB
4. Work on the references (last six) in the review paper.
5. Add the "Theory and applications of hyper-redundant robotic manipulators-132.TIF" file to SVN/Papers/EndNote

This week Activities

1. Done with the testing of Stepper motor code in h/w.
2. Done Working with the Distance Sensor
3. Print the data recived from the Distance Sensor in MATLAB
4. Work on the references (last six) in the review paper.
5. Add the "Theory and applications of hyper-redundant robotic manipulators-132.TIF" file to SVN/Papers/EndNote

Weekly report

• 07/05/2007

Plans for the week

1. Write code to run Stepper motors using Timer 0.
2. Work on the references (last six) in the review paper.

This week Activities

1. Simulated in MPLAB SIM using Timer 0.
2. Working on references

• 06/28/2007

Plans for the week

1. Write code to run Stepper motors using Timer 0.
2. Work on following references (last six) in the review paper.
   • Copy and paste last six references to a new Word document and check it in to the review folder.
   • Add to the list by following references, filling in all four points (Design, Kinematics, Application, References); highlight any unsure/incomplete entries.
   • Use the IEEE Xplore/Google Scholar to find papers and add them to the document and to SVN.
3. Work with the functions in the workarounds file.
4. Help srinivas in making a list of Inventory.

This week Activities

1. Simulated the code to run Stepper motors in MPLAB SIM.
2. Started working with references (last six) in the review paper.
3. Done working with the functions in the workarounds file.
4. List of Inventory is submitted to Dr.Jones.

• 06/19/2007

Plans for the week

1. Prepare for presenting MPLAB SIM on Monday; discuss with Dr. Jones by Thursday afternoon or sooner.
2. Read Robinson and Davies, "Continuum robots - a state of the art" stored in EndNote.
3. Begin work on following references (last six) in the review paper.
   • Copy and paste last six references to a new Word document and check it in to the review folder.
   • Add to the list by following references, filling in all four points (Design, Kinematics, Application, References); highlight any unsure/incomplete entries.
   • Use the IEEE Xplore/Google Scholar to find papers and add them to the document and to SVN.
4. Work with the functions in the workarounds file.
5. Make a copy of the work done uptodate in to SVN/students/durgapavani folder.
6. Help srinivas in making a list of Inventory.

This week Activities

1. Presented a demo on MPLAB SIM.
2. Robinson and Davies, "Continuum robots - a state of the art" stored in EndNote is read.
3. Started working on references in the review paper.
4. Got few bugs while working with the functions in the workarounds file.
5. Made a copy of the work done uptodate in to SVN/students/durgapavani folder.

• 06/12/2007

Plans for the week

1. Write code to run DC motors using PWM modules(Timer 2)
2. Check whether the simulator provided by MPLAB works with the above code to display the PWM wave form
3. If the Simulator works prepare for the group presentation
4. Check new version of the echo code modified and mailed by Dr.Jones is working
5. Check the functions in the Workarounds file in usb/lib folder updated by Dr.Jones in the usb.zip folder in the Bullyboard webpage

Note:

1. Use interrupt.h instead of pragma for interrupts
2. In the MPLink of MPLAB,Check the Use alternate settings checkbox and in the textbox add

iz 0X000 when working with the MPLAB Simulator

iz 0X800 when working with the Hardware

to the end of /m"$(BINDIR_)$(TARGETBASE).map" /o"$(BINDIR_$(TARGETBASE).cof"

This week Activities

1. Done with the code to run DC motors using PWM modules(Timer 2)
2. Worked with few examples using MPLAB SIM
3. Checked the new version of the echo code modified and mailed by Dr.Jones, and it is working
4. Checked the functions in the Workarounds file

• 06/05/2007

Plans for the week

1. Write code to run the DC motors using the PWM modules
2. Check simulator functionality provided in the MPLAB whether it works with the above code to view the output waveforms
3. Work with the previous version of the echo code(mailed by Dr.jones) and check how it works
4. Purchase books and update details in to Papers/Reciepts/Inventory.xls
5. Attend sessions at Writing center and work on improving writing skills

This week Activities

1. I have written code to generate pwm waveform(at RD0 pin) using Timers 1 and 3
2. Working with simulator functionality provided in the MPLAB
3. Previous version of the echo code(mailed by Dr.Jones)is working
4. Purchased two books and updated details in to Papers/Reciepts/Inventory.xls
5. Attended session at Writing center and working with the assignment given by the Tutor

• 05/29/2007

Plans for the week

1. verify the Rotation matrix Eq.2(Refer.pg.57 robotics text book)of Continuum kinematics review paper and DH table.Make a fair copy for the verified equations
2. Install Endnote and office 2007
3. Attend sessions at Writing center and work on improving writing skills
4. Be comfortable working with MPLAB IDE compiler, write code to run two DC motors using PWM modules in section 15.0 of the PIC data sheet and check simulator functionality provided in MPLAB
5. Read the data sheet for the USB PICs.

This week Activities

1. Verified the Rotation matrix Eq.2(Refer.pg.57 robotics text book)of Continuum kinematics review paper and DH table.Made a fair copy for the verified equations
2. Installed Endnote and office 2007
3. The Writing center was closed last week so didn't attend any sessions
4. Done with MPLAB IDE compiler installation and setup.Successfully compiled the "echo" project file available in the website
5. Covered various sections in the data sheet for the USB PIC 18fxxxx.

• 05/22/2007

Plans for the week

1. Add link in wiki to Robotics research group page from personal webpage
2. Read and review Continuum kinematics review paper, verifying equations as specified on the group meeting page.
3. Write Code to run two DC motors using PWM modules in section 15.0 of the PIC data sheet.
4. Read the data sheet for the USB PICs.

This week Activities

1. link in wiki to Robotics research group page from personal webpage is added
2. Read Continuum kinematics review paper and verified equations some with hand calculations and other using matlab
3. Got few bugs while working with MPLAB IDE
4. Attended a session at writing center, got corrected with grammatical mistakes and updated the Subversion page in wiki with these corrections

• 05/15/2007

Plans for the week

1. Revise / edit Wiki docs; use the English TA and writing consultant help.
2. Wiki home page
3. Read / verify continuum kinematics review paper
4. Read papers to review according to review criteria; briefly read body of paper and bring questions to group meeting
5. Write code to run two DC motors, 1 stepper motor, read data from distance sensor

This week Activities

1. Made edits to wiki page(subversion page) and checked the grammar
2. Added Links in wiki to SVN main page from subpages
3. Rewriten statement of link to the movie
4. Uploaded movie(with required changes) to the wiki(changed from my Samba to robotics/wikimedia)
5. Read continuum kinematics review paper

• 05/08/2007

Plans for the week

• Pattern: learn and document knowledge on the ECE Wiki. Determine what you don't know and ask (me or Srinivas).
• Know the PIC

1. Read the data sheet for the USB PICs.

• Learn subversion (SVN)

1. Read the subversion book at http://subversion.tigris.org/.
2. Download and install TortoiseSVN

• Use svn+ssh://userid@yavin.ece.msstate.edu/data/robotics/svn

1. Create your own SVN repository and demonstrate checkin / checkout

• Learn Wiki usage

1. Find all SVN documents in the ECE wiki
2. Find pointers to any good SVN tutorials on the web
3. Revise / improve SVN documentation. Print before/after pages which show changes.

• Later:

1. Robot bring-up / programming
2. Learn EAGLE, do a PCB design and layout
3. Learn Open Inventor, Coin3D
4. Learn unit testing
5. Learn doxygen / javadoc style of coding

This week Activities

1. Read the subversion book at http://subversion.tigris.org/.
2. Done with Download and installation of TortoiseSVN
3. Using svn+ssh://userid@yavin.ece.msstate.edu/data/robotics/svn Created an SVN repository
4. Made a demonstration using adobe Captivate

Learn Wiki usage

1. Made a search for SVN documents in the ECE wiki and web
2. Updated the links that points to good SVN tutorials on the web in the SVN Wiki page
3. Revised SVN documentation.