Working on project ARIS in terms of designing PCBs for camera connection and distance sensors to prevent collision with the cavity. For the USB 3.0 inspection camera the signal integrity issue was solved thanks new HI-Speed connector in the adapter PCBs focusing on the impedance matching of differential pairs. In parallel study about the safety anticollision sensors was archived researching different distance sensors and decided on the inductive sensors, designed rib-shaped uniform and non-uniform inductors, and worked on characterization of the sensors.
Study of a control system and the mechanical coupling of an Ultrasonic Piezoelectric Motor to locomote an inspection robot using Mecanum Wheels in high magnetic fields
The software developed is composed of two components, low level motor control program running on a microcontroller and a Python-based interface for monitoring and feedback visualization.
The report details the operational modes and integration of hardware and software components for the first sketch of the mobile platform
A feasibility study was conducted for a new 4 DoFs robotic arm meant to replace the current cavity inspection system which has 3 DoFs. Among the 2 main pitfalls of the current system are the need to change the robotic arm depending on the cavity as well as the actuation using electrical motors that are placed at the joints which presents a safety issue. To solve the first problem, one more rotational degree of freedom was added and MATLAB simulation was performed to determine the optimal lengths of the links. After determining the optimal links' lengths for which each desired position in the cavity can be reached, a cable-driven robotic arm was designed.