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tesla_journal17 [2019/12/02 09:49] (current)
yuhanghe created
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 +====== Yu Hang He Tesla 2019 Journal ======
 +
 +**Author:** [[unlv_he|Yu Hang He]], Email: <​[email protected]>​
 +\\
 +**Date Last Modified:** 12/2/2019
 +\\
 +===== Week 17 =====
 +
 +==== Project Status ====
 +
 +This week, I finally have the opportunity to test Spot's new software update. This update included the new Autowalk feature on Spot's controller as well as the ability to configure payload options such as mass and inertia. I updated the desktop GUI to reflect the new updates in Spot's API. The desktop application can now capture or stream depth maps from all 5 stereo camera on Spot. The ability to access the depth maps can open more opportunity for computer vision with Spot.
 +
 +I have the chance to test the Autowalk feature on Spot's controller. First, a fiducial marker provided by BD is required to initialize the mission recording. After the recording started, navigate Spot through the route that will be repeated. Spot will automatically capture surrounding data and set waypoints at 3 meter intervals. After the recording, the Spot is able to replay the route. Additional fiducial markers can be added to improve the fidelity of the process. Unfortunately,​ at this point the Autowalk feature does not include the ability to issue custom user commands. ​
 +
 +Finally, I traveled to Fremont factory this week to use Spot to scan the main substation. I attempted to setup an Autowalk mission in the substation. However, during the replay, the localization process failed and I have to manual stop Spot's mission. The computer vision range of Spot is limited to 3-4 meters distance. If there is not enough distinguishable feature in this range, the localization process will fail. One solution is to attach fiducial markers. However, since it was not safe to get in contact with the structures I have to gave up on using Autowalk feature.
 +
 +In the end, I have to manually navigate Spot to each point and remotely activate the scan. The entire process is time consuming since each scan takes about 10 mins. The process took over 3 hours. Unfortunately,​ I underestimate the time required and Spot run out of battery. The mission had to be split between two days.
 +
 +Finally, I was able to process the scan data and uploaded them to secure server. The scan results were excellent since the substation is an open area. While there are many small problems that occurred during this test. However, overall, the use case proves Spot's ability to carry out laser scanning missions. Once we gain the ability to control Spot remotely or autonomously,​ it can save time and improve productivity in this area.
 +
 +==== Project Agenda ====
 +I am not exactly sure what is next on agenda. Unfortunately,​ my contract is coming to an end pretty soon. 
 +
  
tesla_journal17.txt ยท Last modified: 2019/12/02 09:49 by yuhanghe