| Manager: | Hamdi Roumani |
| Start: | October 8, 2006 |
| Finish: | April 27, 2007 |
| Report Date: | January 16, 2007 |
| WBS | Name | Start | Finish | Work | Priority | Complete | Cost | Notes |
|---|---|---|---|---|---|---|---|---|
| 1 | Project Definition | Oct 9 | Oct 11 | 3d | 100% | |||
| 2 | Mobile Robot - Research | Oct 9 | Oct 23 | 11d | ||||
| 2.1 | Search for feasibility of acquiring or building mobile robot | Oct 9 | Oct 12 | 4d | 100% | |||
| 2.2 | Determine Hardware Requirements | Oct 12 | Oct 16 | 3d | 100% | |||
| 2.3 | Determine Interfacing Options | Oct 17 | Oct 19 | 3d | 100% | |||
| 2.4 | Determine Algorithm Requirements | Oct 20 | Oct 23 | 2d | 100% | |||
| 2.5 | Determine Mobility Control | Oct 20 | Oct 23 | 2d | 100% | |||
| 2.6 | Determine Energy Requirements | Oct 20 | Oct 23 | 2d | 100% | |||
| 2.7 | Selection of Mobile Robot | Oct 20 | Oct 20 | 1d | 100% | |||
| 3 | Mobile Robot - Implementation | Oct 20 | Apr 3 | 118d | ||||
| 3.1 | Robot Construction | Oct 20 | Nov 8 | 14d | 100% | |||
| 3.2 | Algorithm Development | Nov 16 | Apr 3 | 99d | ||||
| 3.2.1 | Robot Localization | Mar 26 | Apr 3 | 7d | 0% | Robot localization will be resolved along with WSN localization is implemented. | ||
| 3.2.2 | Movement | Jan 15 | Jan 19 | 5d | Awaiting for connection resolution with WSN node and forward motion currently has a skew to the left. | |||
| 3.2.2.1 | Implement Shaft Encoder for precise movement | Jan 15 | Jan 19 | 5d | 40% | The need for implementation was realized Jan. 15/07 | ||
| 3.2.3 | Connection Strength Management | Jan 24 | Feb 1 | 7d | 0% | This will be resolved along with integration of WSN Nodes. | ||
| 3.2.4 | Power Management | Nov 16 | Nov 24 | 7d | 60% | Power Supply is completed. Awaiting for interaction with WSN node to resolve managing power during idle times. | ||
| 3.2.5 | Signal Processing | Jan 22 | Jan 30 | 7d | 0% | IIC code is determined, but must be synched with WSN nodes. Awaiting for Interface Support to be implemented. | ||
| 3.3 | Interface Support | Jan 8 | Feb 5 | 21d | 40% | Algorithm to communicate to WSN is currently in place. Ensuring signal pull the proper voltage is currently being implemented. Synchronizing with WSN node will soon to follow. | ||
| 4 | Mobile Robot - Testing | Dec 6 | Apr 19 | 97d | ||||
| 4.1 | Algorithm Testing | Dec 6 | Dec 25 | 14d | 30% | Some algorithms has been tested. The rest of the development will be tested after integration. | ||
| 4.2 | Bug Fixing | Apr 2 | Apr 19 | 14d | 0% | Delayed due to late arrival of WSN nodes. | ||
| 5 | WSN - Research | Oct 9 | Jan 9 | 67d | ||||
| 5.1 | Research and selection of WSN kit. | Oct 9 | Oct 13 | 5d | 100% | |||
| 5.2 | Acquisition of WSN kit | Oct 17 | Jan 9 | 61d | 100% | Acquisition of kit was delayed due to beaureaucratic process. | ||
| 5.3 | Determination of Communication between nodes | Oct 17 | Nov 3 | 14d | 100% | |||
| 5.4 | Acquire online docs and materials for developing WSN. | Oct 17 | Nov 3 | 14d | 100% | |||
| 5.5 | Determination of sensors to attach to nodes | Oct 17 | Nov 3 | 14d | 100% | |||
| 5.6 | Determination of specifications of sensor devices and sensor nodes. | Oct 17 | Nov 3 | 14d | 100% | |||
| 6 | WSN - Implementation | Jan 9 | Jan 15 | 5d | ||||
| 6.1 | Develop code for WSN communication | Jan 9 | Jan 15 | 5d | 100% | |||
| 6.2 | Develop code for transfer of information between nodes | Jan 9 | Jan 15 | 5d | 100% | |||
| 7 | WSN - Testing | Jan 9 | Jan 16 | 6d | ||||
| 7.1 | Test communication with several WSN | Jan 9 | Jan 15 | 5d | 100% | |||
| 7.2 | Fix any bugs determined | Jan 16 | Jan 16 | 1d | 100% | |||
| 8 | Integrated System - Integration | Jan 2 | Mar 28 | 62d | ||||
| 8.1 | Develop code for synchronization between mobile robot and WSN | Jan 2 | Feb 8 | 28d | 50% | Code for I2C output from both the WSN node and the HC12 has been developed. Communication will need to be integrated for both systems to communicate bidirectionally. | ||
| 8.2 | Develop code in the mobile robot to communicate with wireless sensor nodes. | Jan 2 | Feb 8 | 28d | 40% | IIC components have been coded. A pull up resistor needs to be designed to complete implementation. | ||
| 8.3 | Develop code in the mobile robot for gap determination. | Feb 1 | Feb 28 | 20d | 0% | |||
| 8.4 | Develop code in the mobile robot and WSN node for localization. | Mar 1 | Mar 28 | 20d | 0% | |||
| 9 | Integrated System - Testing | Apr 2 | Apr 27 | 20d | ||||
| 9.1 | Test integrated system with different gap scenarios | Apr 2 | Apr 19 | 14d | 0% | |||
| 9.2 | Fix any bugs determined | Apr 19 | Apr 27 | 7d | 0% | |||
| 10 | Integrated System - Finalization | Apr 2 | Apr 26 | 19d | ||||
| 10.1 | Onsite testing and ensure system is implemented in area of presentation. | Apr 2 | Apr 26 | 19d | 0% | |||
| 11 | Integrated System - Presentation | Mar 27 | Apr 24 | 21d | ||||
| 11.1 | Produce posters for final presentation. | Mar 27 | Apr 24 | 21d | 0% | |||
| 11.2 | Develop a video presentation. | Mar 27 | Apr 24 | 21d | 0% |
| Name | Short name | Type | Group | Cost | |
|---|---|---|---|---|---|
| Doug Stamp | Work | WSN Group | dstamp@yorku.ca | 0 | |
| Hamdi Roumani | Work | WSN Group | cs233017@cse.yorku.ca | 0 | |
| Patrick Tayao | Work | Mobile Group | ptayao@yorku.ca | 0 | |
| Tyson Hamilton | Work | Mobile Group | tyson@yorku.ca | 0 |