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

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
    • Magnets
    • Glue, tape
    • Bracket, environments
    • Wing nuts, hex nuts, screws, bolts
    • Measuring instruments: vernier, rulers etc.
  • Tests
    • Assemble components
    • Run single ring, two ring, extra pieces tests
  • Shaker details

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

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