Start-up sprint

Assembled group members, common run-through with Karoline. Created accounts for various software to track/follow up project stages. Created templates for various follow up documents, such as timesheets etc. Had a start-up meeting with Kongsberg Maritime to align our understanding of the task and agree on requirement. Date and time for first presentation set, along with completion of group contract, timeline and process model.

Sprint 1

Commenced on our first sprint! Defined Minimum Viable Product, and concepts for parallel manipulator, with joints for the parallel manipulator. Decided on functionality and design of crane. Began system engineering work. Received offer on actuators. Did a test run of the actuators. Collected pique shirts with KM and group logo, so we all can look awesome! Successful data transfer between OPC-UA server and RCU client connection.

Sprint 2

Festo has given us a test actuator to see if it was compatible with PROFINET, and it was successful. Order on actuators is placed, and delivery is set for week 8. Template for user stories and requirements are created, while also filling in the templates in detail. Our first presentation is right around the corner, and we are preparing for it. PowerPoint template has been made and we have devided topics between us. Good progress on the report has been made. We submitted documentation and held our first presentation. Thanks to everyone who attended!

Sprint 3

Received Festo equipment, meaning two actuators for the crane along with Profinet interface. Setup of both PROFINET devices on the same network along with actuator to RCU connection has been made. Successful data transfer of object recognition data to RCU with OPC-UA. Started on CAD-modeling of prototypes. Whole group group evaluated the risks in the risk analysis one more time in case of changes. Added two new risks to the risk analysis. Made most of the physical prototype of the crane and the parallel manipulator.

Sprint 4

Most of our focus this sprint will be towards the other subject, as exam is nearing and this will impact the amount of work done. But things are still movning forwards, as the first prototype of the crane and platform are both finished, only missing some modifications which need to be machined. YAY! Multiple parts have been ordered and received, for the actuators and raspberry pi. Started on second iteration of achitecture and arranged meeting with festo to discuss the application class mode for festo driver.

Sprint 5

The sprints will now be shorter and full focus begins on the project. Soldered PBCs and connected them to the H-bridge and Arduino, while also wiring up the actuators to the Arduino. The platform is alive. WOHOO! Presentation is close and preperation is initialized. The actuators on the crane are operative and integration between Festo and the RCU is up and running. YIPPI! The missing modifications for the first prototype have now been machined, resulting in us finally completing our functional prototype :-D.

Sprint 6

Work on the final product has begun. Components are wired and mounted in Rittal cabinet. The design of the casing is almost completed. A emergency circuit has been added. Kalman-filter has been intregated and functional. User interfaces are being developed. Budget changes had to be made with the approval from KM, and reserch is being done on parts for the remaining components, with regards to price and lead time. Placement of cameras still in progress.

Sprint 7

The casing parts have been received, with additional components from RS still pending. Implementation of physical buttons has begun. Heave control using only the drum has been implemented but requires further tuning. The prototype has reached fatigue failure.

Sprint 8

All technical equipment has been moved to the extra room. Assembly and wiring of the lower casing have started; the power supplies and Rittal cabinet are finalized and tested. Contacted all known machinist companies in Kongsberg, as well as local high schools. An agreement was made with Kongsberg VGS for shaft production. Parts for the final assembly have been ordered and collected. 2D drawings for electrical and mechanical components have been made, with some work still remaining. Most 3D-printed parts are expected to be completed within the next week.

Sprint 9

The wiring for the final system has been completed and tested. Platform actuators have been tested and debugged. All platform components are machined and produced, and most crane parts have also been manufactured.

Sprint 10

All parts designed by the group have been produced, and nearly the entire system is assembled. Final testing has begun. Heave compensation (z-axis) and anti-pendulum compensation (x-axis) are both functional. The report is in its final stages.

Sprint 11

The final system is close to completion, jsut missing some minor details. Report is almost finished. We are closing in.

Final sprint

We have handed in!!!! YIPPI! Getting ready for Expo the 22nd of May and final presentation the 28th of May.