PhDSupervision:Dhananjay Ipparthi
Personal Information
Name: Dhananjay Ipparthi
Date of arrival in Brussels: 08th February, 2012
Home address: Rue des Vierges 58, 1000 Bruxelles
Telephone number: +32 483 382 207
Milestones
- Ring assemble demo in Paderborn, 20th August 2013
- Decision of continuation of fellowship, 31st January, 2014
Academic Activities
6th - 10th January, 2014
Plan
- Finalise procurement
- Screws [waiting confirmation]
- Cut out acrylic
- Established tolerances for 0.5mm plexiglass - 0,34mm cumulative for circular holes.
- Finalise test environments
- Follow up with Haitham about 3D printed parts [in progress]
Accomplishments
- Cut out covers
- Two notches will work better for top cover
- Conducted preliminary experiments
- The magnet should drop and move towards the face rather than dropping and staying in place
- They key should move in it's slot more smoothly. Ensure screw head does not interfere with the key slot
- The magnet should drop down more smoothly
Others
- Back up option for screws [1]
Todos
- Camera, lights, lens
- Measure universal platform
- Laser cut bracket to check if dimensions are correct
16th - 20th December, 2013
Plan
- Finalise procurement
- Screws [waiting confirmation]
- Cut out acrylic
- Finalise test environments
- Meet Thomas to refine experiment hypothesis [done]
Accomplishments
Others
Todos
- Camera, lights, lens
- Measure universal platform
- Laser cut bracket to check if dimensions are correct
9th - 13th December, 2013
Plan
- Finalise procurement
- Acrylic [paid]
- Screws [waiting confirmation]
- Cut out acrylic
- Design test environments
- Design lid options
- Refine experiment hypothesis
Accomplishments
Others
Todos
- Camera, lights, lens
- Measure universal platform
- Laser cut bracket to check if dimensions are correct
2nd - 6th December, 2013
Plan
- Submit first working design to DMRC
- Follow up orders for screws and acrylic [in progress]
- Submit receipts to Jutta
- Print out previous trip spreadsheet for personal records
- Plan experiments
Accomplishments
Others
Todos
- Camera, lights, lens
- Digital weighing scale [2]
- Measure universal platform
- Laser cut bracket to check if dimensions are correct
25th - 29th November, 2013
Plan
- Tally accounts
- Submit receipts to Jutta
- Print out previous trip spreadsheet for personal records
- Measure universal platform
- Laser cut bracket to check if dimensions are correct
- Spacing of holes
- Holes
- Length, breadth and width
- Pick up components from DMRC [done]
- Experiments with other magnets (N52) and Bismut
* Follow up orders for screws and acrylic
Accomplishments
Others
Todos
- Camera, lights, lens
- Digital weighing scale
18th - 22nd November, 2013
Plan
- Submit designs for printing: [done]
- L-drop component and key
- Straight drop component and key
- Test block to try different components
- Enquire about screws and acrylic sheet
- Update SVN
- Purchase
- Screws
- Acrylic
- Bismut [done]
Accomplishments
Others
Todos
11th - 15th November, 2013
Plan
- Pick up new components from DMRC
- Test new components
- Which magnets to use? --> 3mm side cube, 5mm side cube
- What size of components? --> 50mm radius, 25mm height (earlier 35mm) (done)
- What size of keys? --> Increase dimensions of shaft, change shaft shape (incline to L) (done), keep wall thickness 1.5 (reduce to 1?)
- What gaps between magnet and ferromagnetic material?
- --> For attraction the gap should ideally be a maximum 2mm. This means that since there is a 0.5mm air gap between the key and the magnet, the wall thickness should ideally be 1mm.
- --> To ensure there is no attraction between the ferromagnetic material and the magnet (> 3mm side cube) the separation should be at least 15mm
- Which ferromagnetic material? --> screw
- Redesign components based on test results [ref above]
- Gaps magnet and ferromagnetic magnetic material
- Hole sizes for screw (hole on face) [done]
- Height of component [done]
- Redesign components to make them Radius 25 and Height 15
- Design tube for the magnet to slide in
- Design component such that the face ends with acrylic sheet
- Bismuth beads
Accomplishments
Others
Todos
21st October - 25th October, 2013
Plan
- Submit revised multi-target component design v2
- Conduct experiments with ferromagentic materials
Accomplishments
- Submitted lock-key based design for 3D printing
- Conducted experiments with ferromagnetic material and magnets.
Others
Todos
- Conduct further tests with ferromagnetic materials
- Use different magnets
- Tabulate distance of attraction and magnet strength (and shape?).
- Order magnets
- Make list of parameters that can be adjusted in revised multi-target component design
- Make a list of anticipated errors
- Design refinements to v2 design
- Lip
- Test blocks for angles
15th October - 18th October, 2013
Plan for Paderborn
- Design v2 of multi-target self-assembly system
- Design test blocks to test different parameters
Accomplishments
- Designed v2
- Designed test blocks for:
- Different box sizes for the key
- Different key shapes based on area of attraction
Others
Todos
- Conduct tests on magnets
- Design refinements
- Make list of anticipated errors
07th October - 11th October, 2013
Plan
Accomplishments
Others
Todos
30th September - 04th October, 2013
Plan
- Random shaker design
- Coupling of saw and shaker
- Test on Laser Cutter
- New 3D printer research
Accomplishments
- Requested quote for random shaker
- Requested quote for basic 2D robot
- Submitted revised component design to DMRC
Others
Todos
22nd - 26th September, 2013
Plan
- Shaker choice
- Update expenditures
Accomplishments
- Revised component design
- No unwanted features
- Read paper and highlight important design attributes
- Visted Chem and Physics lab
Others
Todos
16th - 20th September, 2013
Plan
- Submit revised design for 3D printing
- Literature review
- Works citing Hosokawa (1996)
Accomplishments
Others
- 17th September - Received reply from Dr. Hosokawa along with his last work on the self-assembly of multiple structures (1996).
Todos
9th - 13th September, 2013
Plan
- Make corrections to the angle test block design based on feedback from Polyjet Printing services [ongoing]
- Search for shakers [Fisher Scientific, Eppendorf and New Brunswick]
- Weight the shaker is able support atleast 500g of weight
- 220V Euro plug
- Metric holes
Accomplishments
- Compiled a list of shakers
- Marco sent Xeed an email requesting a status update.
Others
Todos
2nd - 6th September, 2013
Plan
- Send Kazuo Hosokawa email regarding paper [done]
- Shaker research [ongoing]
Accomplishments
Others
Todos
- Followup on 3D printer
26th - 30th August, 2013
Plan
- Design components for 3D printing
- Laser sintering
- Test component to test different sliding angles
- Test component to test different magnet separation distances
- Seed component
- Switchable component
- Laser sintering
- Polyjet
- Test component to test different sliding angles
- Test component to test different magnet separation distances
- Polyjet
Accomplishments
- Designs submitted
Others
Todos
19th - 23rd August, 2013
Plan for Paderborn
- Conduct tests on:
- Induced error tests: N-N bond etc
- Complete incomplete experiments
- Buy M3 3cm length screws
- Bracket
- Further search for a random shaker
- Find state of the art for multiple structure assembly [in process]
Accomplishments
Others
- Placed order for magnets
- Magnets are with ULB courier services
Todos
- Make a list of errors for circle shapes
12th - 16th August, 2013
Plan
- Find a shaker that shakes in a random fashion [found one possibility]
- Find state of the art for multiple structure assembly [in process]
- Read Hosokawa paper [done]
- Refinements to existing designs
- Wall thickness [pending]
- Depth of magnets [run tests in Paderborn]
- Maximum and minimum structure sizes [cut 15mm and 25mm acrylic components]
- Update lab journal
- Prepare and pack for Paderborn trip 20130819-23
Accomplishments
Others
- Placed order for magnets
- Magnets are with ULB courier services
Todos
- Make a list of errors for circle shapes
5th - 9th August, 2013
Plan
- Reorganise experiment data from Paderborn visit
- Plot compatibility curve [done]
- Read Hosokawa paper [PENDING]
- Refinements to existing designs [in progress]
- Wall thickness
- Depth of magnets
- Maximum and minumum structure sizes
- Submit expenses for reimbursement [done]
- Marco transferred 800Euro to my bank account on 9th August, 2013
Accomplishments
- Followed up with LaserScript - no response
Others
- Purchased external hard drive to store videos
Todos
- Find a shaker that shakes in a random fashion
- Find state of the art for multiple structure assembly
- Read Hosokawa paper [PENDING]
29th July - 2nd August, 2013
Plan
- Conduct single target experiments on laser cut and 3D printed components in ABS plastic IR94 container
- Conduct multiple target experiments on 3D printed and laser cut components
- Take measurements for new bracket
Accomplishments
- Conducted single target experiments with laser cut components in ABS plastic IR94 container
- 45deg segments IR25OR35
- 90deg segments OR35 circle
- 90deg segments IR15OR25
- 90deg segments IR25OR35
- Conducted single target experiments with laser cut components in acrylic IR75 container
- 45deg segments IR25OR35
- 90deg segments IR25OR35
- 90deg segments OR35 circle
- Conducted single target experiments with 3D printed components in ABS plastic IR94 container
- 45deg segments IR02OR35
- 90deg segments IR25OR35
- Conducted single target experiments with 3D printed components in acrylic IR75 container
- Conducted multiple target experiments with laser cut components in ABS plastic IR94 container
- 90deg segments IR25OR35 x2
- 90deg segments IR15OR25 x2
- 90deg segments IR15OR25 x3
- Conducted multiple target experiments with laser cut components in acrylic IR75 container
- 90deg segments OR35 circle x2
- 90deg segments IR15OR25 x3
- Conducted multiple target experiments with 3D printed components in ABS plastic IR94 container
- 45deg segments IR02OR25 x2
- 45deg segments IR02OR35 x2
- 90deg segments IR25OR35 x2
- Conducted multiple target experiments with 3D printed components in acrylic IR75 container
- 45deg segments IR02OR25 x4
Others
Todos
- Go through JICBackup_videos on kelvin workstation
22nd - 26th July, 2013
Plan
- Conduct tests on N-N error reduction designs
- Cut IR100mm container
- Bracket revision!
- Send LaserScript feedback email
- Prepare for Paderborn trip
- Make a plan for experiments
- Make a list and pack
Accomplishments
Others
Todos
- Update expenses spreadsheet [done]
- Submit expenses to Muriel [done]
15th - 19th July, 2013
Plan
- Send LaserScript email [done]
- Update SVN
- Cut IR 100mm container
- Bracket!
- Find ways to reduce N-N errors [in progress]
Accomplishments
- The laser cutter was previously not calibrated accurately and caused errors in cuts. The cutter is now better calibrated.
- Purchased 5mm plexi-glass sheet, 3 wood beams and Brico Discount Card [€195,47]
- Designed and cut three modifications to reduce N-N error
- Curved edge
- Flanged edge
- Filleted edges
Others
Todos
8th - 12th July, 2013
Plan
- Send bracket sizes to Navneet [Done, €14,59]
- Update Experiments spreadsheet [done]
- Include dimensions of Big and Small environments [done]
- Deeper cuts [done]
- Inclined holes [done]
Accomplishments
- Found suitable air-gap for components
- Found configurations for components with inclined holes to bond
- v-shape
- straight line (causes the pieces to be offset)
Others
- Meeting with Mauro:
- Purchasing acrylic in bulk
- Laser cutter calibration
To dos
- Send LaserScript email regarding errors in calibration
- Deal with bracket fit
1st - 5th July, 2013
Plan
- Paderborn visit (3rd - 5th July, 2013)
- Pack
- Cameras, chargers, cables, memory cards and tripod
- Data storage
- Design notebook, theses, papers
- Magnets
- Glue, tape
- Bracket, environments, lids
- Wing nuts, hex nuts, screws, bolts
- Measuring instruments: vernier, rulers etc.
- Tests
- Assemble components
- Run single ring, two ring, extra pieces tests
- Shaker details
- Pack
Accomplishments
- Hand held experiments at IRIDIA
- Captured videos of single ring and multiple ring assembly experiments. Tabulated the results.
- Conducted tests with extra pieces. The extra pieces used were were:
- Quarter circle
- Full circle
- Shaker experiments in Paderborn
- Speed tests
- Acrylic environment: acrylic components and ABS plastic components
- ABS plastic environment: acrylic components and ABS plastic components
- Tabulated results
- Assembly tests
- Big acrylic environment: 90deg ring segments, 45deg ring segments, 90deg circle segments
- Small acrylic environment: 90deg ring segments, 45deg ring segments, 90deg circle segments
- Tabulated results
- Captured videos
- Speed tests
To do
- Send bracket sizes to Navneet
- Update Experiments spreadsheet
- Include dimensions of Big and Small environments
- Deeper cuts
- Inclined holes
Others
24th - 28th June, 2013
Plan
- Purchased [done]:
- Washer/spacer for M7 and M8 screws - 1 each
- 2m x 1m x 3mm Acrylic sheet - 1
- 6mm Clips - 1
- TOTAL : 111,97 Euro
- Fabricate rings with lesser width [done]
- Test to see if two rings can form simultaneously [done]
- Prepare files and equipment for transport to Paderborn
Accomplishments
- Self assembly of:
- Circle: IR 2mm OR 35mm
- 1 ring: 90deg segments IR 20mm OR 35mm
- 1 ring: 45deg segments IR 20mm OR 35mm
- 2 rings: 90deg segments IR 20mm OR 35mm
- 3 rings: 90deg segments and 45deg segments
Others
17th - 21st June, 2013
Plan
- Purchase acrylic sheets, MDF boards, sand-paper, glue [done] €184,46
- Design and fabricate container for testing in July [done v2, shelved v1]
- Design coupling that will allow any container to be easily mounted onto the shaker. [done v2, shelved v1]
- Update Design Journal and Technical Report.
- Design rings with lesser width
- Observe lateral bonding
Accomplishments
- Developed first self-assembling structure.
- Estimated cutting errors for the Laser Cutter [done]
- Included the design considerations needed to be taken into account because of the errors on the Laser cutter wiki [done]
- Details of the error testing File:LaserCutter Tests.pdf
- Purchased I-section nd L-section channels which will be used as the coupling that will join the container and the shaker. €7,59
- Purchased nuts, bolts and washers. €8,77
- Fabricated and assembled container(s) and brackets
- Containers: IR 75mm and IR 135mm
- Bracket
Other
10th - 14th June, 2013
Plan
- Submit designs for fabrication [done]
- Ensure pieces mate before submission [done]
- Update reports and address Navneet's comments
- Reorganised files and directories [done]
- Revised time lines to reflect 2 week turn around time for 3D printing [done]
- Create entries for 20130607 [done]
- Update Design journal
- Design and fabricate lid [done]
- Design revision
- Assembly simulations in SolidWorks [done]
Other
- Procured 2 suitable glues for acrylics
- Procured magnets
- Test finishing with the 2 glues
- Cut arcs with acrylic
3rd - 7th June, 2013
Plan
- RAR defense [done]
- Set up SVN [done]
- Create two docs: Lab report and detailed report and include them in SVN [done]
- Update Lab report based on meeting with Navneet [done]
- Understood basics of SolidWorks [done]
Other
- Semi ring designed in SolidWorks
1st March, 2013
Literature Review
Project Work
- Work on FRS-FNRS Fellowship application
- Work on Self-Reproduction Review Paper
- Talk in Dubai
Development
Laboratory Activities
- Assisting in big-arena robot storage setup
Ideas
Deliverable
- Synthetic Reproduction Review Paper due by May 2013
- Defense of Report of Advancement on 17th May 2013