# tblDefectPersonImpact

Notes:
This option is used to allow correction of the database design.


# tblDefects

Notes:
Defects collected through interview with Eric Rollins. He redesigned the pointing mechanism about 10 times before sending any part to be manufactured. The reason for this serie of defects was miscomunication of requirements. That is, designers did not understand all the requirements. Designers did not researched enough the parts they told Eric touse. Later they found out that the parts would not work.
The following 10 defects report these facts.


Notes:
Defects collected through interview with Eric Rollins. He redesigned the pointing mechanism about 10 times before sending any part to be manufactured. The reason for this serie of defects was miscomunication of requirements. That is, designers did not understand all the requirements. Designers did not researched enough the parts they told Eric touse. Later they found out that the parts would not work.


Notes:
Defects collect through interview with Eric Rollins.
Two dimentions were missing from the document they sent to manufacturing. Two (2) out of twenty 20 were missing.
These two records report these defects.


Notes:
Defects collect through interview with Eric Rollins.
Two dimentions were missing from the document they sent to manufacturing. Two (2) out of twenty 20 were missing.


Notes:
Defects collected through interview with Eric Rollins.
There were about 15 modifications that had to be done to allow the assembly of the poiting mechanism.
These defects were bassically because of unupdated documents. That is, old drawings that were not checked before sent to the manufacturer shop.
So the parts were manufactired correctly, but during the assembly Eric noted that there were defects. Parts did not fit, there were no holes to allow assembly, holles in wrong palce, etc.
Eric found these defects doing a pre-assembly. That is, checking the parts before the real assembly begins.
These defects report these defects.


Notes:
Defects collected through interview with Eric Rollins.
There were about 15 modifications that had to be done to allow the assembly of the poiting mechanism.
These defects were bassically because of unupdated documents. That is, old draaings that were not checked before sent to the manufacturer shop.


Notes:
Defects collected through interview with Eric Rollins.
One part that came from the manufacturer had an esthetic damage.
Time to prevent is unknown (0)


Notes:
Interview Mark Sibenac, the slip ring inside the pointing mechanism broke after 3 cycles of assembing and disassembling.
I don't know how much time would take to prevent this problem  (0), maybe it is no applicable here.


Notes:
Interview Jim Teza regarding the single wheell testbed. This testbed was developed to test Nomad's wheel motion system unit.
The motor's resolvers were not calibrated after assembly or the calibration of the motors were made for another kind of amplifier.
This happens with all 6 motors


Notes:
Interview Jim Teza regarding the new motors with brake for the Nomad locomotion.
The motor's resolvers were not calibrated after assembly or the calibration of the motors were made for another kind of amplifier.
This happens with the 2 new motors with brakes.


Notes:
The motors used on Nomad did not have brakes. Nomad need brakes on the motors so it will not move on a hill in tha case of power failure.


Notes:
The two axes one the turning mechanism for the Nomad locomotion system were damaged. The key on the axes was not long enough due to design problems.
Eric knew that this might happen, but he decided to take the risk, since he knew that he would be able to fix it in a reasonable amount of time (10Hs)


Notes:
The tow axes one the turning mechanism for the Nomad locomotion system were damaged. The key on the axes was not long enough due to design problems.
Eric knew that this might happen, but he decided to take the risk, since he knew that he would be able to fix it in a reasonable amount of time (10Hs)


Notes:
The Schematic for the Locomotion TestBed was incorrect. Therefore the cables were built incorrectly.
These 10 records report these defects.


Notes:
The design for the pointing mechanism did not include mechanical support for holding internal wiring. Therefore the wires could get jammed on the gears.
There were 4 defects of this type. This was a defect on the design. The designers did not think about this problem.
These 4 defects report this fact.


Notes:
The locomotion structure was not strong enough to handle the loads without deflections (design problem).
Eric Rollins and Ben Shama designed and  installed four reinforcements members.
It took 4 hours to design ,80 hours to produce the parts.
(4 hours to fix manufacturing problems, and 4 hours to install the first 4 parts).
These 4 records report these defects.

It took 4 hours to design, 35 hours to produce, 4 hours to fix problems, and 6 hours to install.
So the 4 hours used to fix problems are in fact defects (8 defects, one of eah part that did not fited).


Notes:
The structure support for the locomotion system was not strong enough to handle the loads without deflections.
Eric Roolind designed and  installed four reinforcement members (two for each side)


Notes:
The structure support for the locomotion system was not strong enough to handle the loads without deflections.
Eric Roolind and Ben Shama designed and  installed 2 x four reinforcement members (four for each side).
It took 4 hours to design ,80 hours to produce, 4 hours to fix problems, and 4 hours to install the first  4 parts.
It took 4 hours to design, 35 hours to produce, 4 hours to fix problems, and 6 hours to install.
So the 4 hours used to fix problems are in fact defects (8 defects, one of eah part that did not fited).


Notes:
More 4 parts were added, again the parts needed fix to be assembled.
The structure support for the locomotion system was not strong enough to handle the loads without deflections.
Eric Roolind and Ben Shama designed and  installed 2 x four reinforcement members (four for each side).
It took 4 hours to design ,80 hours to produce, 4 hours to fix problems, and 4 hours to install the first  4 parts.
It took 4 hours to design, 35 hours to produce, 4 hours to fix problems, and 6 hours to install.
So the 4 hours used to fix problems are in fact defects (8 defects, one of eah part that did not fited).
Fix problems here means that the parts did not fit as it should. The drawings sent to the shop were not up to date. The dimentions were wrong.


Notes:
The structure support for the locomotion system was not strong enough to handle the loads without deflections.
Eric Roolind and Ben Shama designed and  installed 2 x four reinforcement members (four for each side).
It took 4 hours to design ,80 hours to produce, 4 hours to fix problems, and 4 hours to install the first  4 parts.
It took 4 hours to design, 35 hours to produce, 4 hours to fix problems, and 6 hours to install.
So the 4 hours used to fix problems are in fact defects (8 defects, one of eah part that did not fited).
Fix problems here means that the parts did not fit as it should. The drawings sent to the shop were not up to date. The dimentions were wrong.


Notes:
A motor amplifier was damaged during the Nomad Locomotion tests. The locomotion system was beign fabricated.
The wires/cables were assembled incorrectly.


Notes:
Four more reinforcements were added to the Nomad Locomotion structure.
This time Ben did not need to modify them.
The time here was computed as:
1) Time to manufacture (external people): 5hours shop time
2) Time to install Ben 5hours
These 4 records report these defects.


Notes:
On the Nomad-Locomotion TestBed the slip-ring unit had to be fixed 5 times during testings.
The connectors came loose, bad contact because of improper assembly.
These 5 records shows these defects.


Notes:
On the Nomad-Locomotion TestBed the slip-ring unit had to be fixed 5 times during testings.
These 5 records shows these defects.


Notes:
Interview Ben Shama regarding the Nomad Wheel test bed.
There were 11 modifications to the mechanical part of the locomotion.
Most of them minor fix ~1 hour
Some of them 4 hours
Two of them major 20 hours to fix.
These records report these 11 defects


Notes:
Interview Ben Shama regarding the Nomad Wheel test bed.
There were 11 modifications to the mechanical part of the locomotion.
Most of them minor fix ~1 hour
Some of them 5 hours
Two of them major 20 hours to fix.
These records report these 11 defects


Notes:
Interview with Jim Teza regarding the Nomad Locomotion TestBed electronics.
The design of the locomotion system assumed that the power supply for the amplifiers would work with on electrical phase.
After the components were being tested, there were some problems.
Contact with the amplifier / power supply manufacturer specify the power supliers for the amplifiers would work well with 3 electrical phases but they could not guatantee the functionality with single phase as designed by the Nomad designers.
The design was kept using a single phase but some defects happened .
These 5 records repot these defects.


Notes:
Interview with Mark Sibernac regarding the Locomotion Real time control.
One of the amplifires came with a problem. It was not linear to the input command signal.


UnClassified:
Add Electrical noise for the Characteristic

Notes:
Interview with Mak Sibernac regarding Nomad TestBed
There were 10 defects on the cables. Interferences and lack of signal were the characteristics.
These 10 records report this problem.


Notes:
Defect collected by interview. Nick Villadis.
The motor screw touched the cover of the pointing mechanism.
It took Eric Rollins 2 hours to fix it.


Notes:
Interview Nick Villadis
The slipring of the pointing mechanism was assembled incorrectly,  Nick had fix the assembly.


Notes:
Interview Nick Villadis
He had to fix the wiring inside the Pointing mechanism because the wires could get in contact with the gears.
There were 4 cables, the next records report these defects.


UnClassified:
Defect Type - Nick assembled incorrectlly, what type of defect is it?

Notes:
Interview Nick Villadis
He did the assembly of the pointing mechanism incorrectly 3 timed. There were no documentation showing the assembly sequence.


Notes:
Interview Nick Villadis
They found a backlash on the Pan of the pointing mechanism.
Solve using thin metal on the axle / shaft.
They needed two interactions to solve the problem.
These two records report these defects.


UnClassified:
Electrical Comp - Add Index Sensor - Optical limit switch

Notes:
Interview Nick Villadis
He had two problems with the index sensor on the pointing mechanism.


Notes:
Interview Michael Parris
He had ~30 defects during the wheels assembly for each wheel.
The following records will report these defects.
These were small moditications to allow assembly.
In this case I'm not considering the defects as repeated for other wheels.
Each defect is represented here for the four wheels


# tblDefectSeverity

Notes:
This severity: (one of the followings)
o  A change in the design is necessary because the current design will fail or does not fulfill the requirements
o  A damaged component failed the subsystem, it is imperative to fix or replace the component.


Notes:
This severity: (one of the followings)
o  Reevaluation of  the design is necessary
o  A damaged component may fail the subsystem in the future, it is recommended to fix or replace the component


Notes:
This severity: (one of the followings)
o Design problems dos not affect core functions or requirements
o Esthetic problems


Notes:
This option is used to allow correction of the database design.


# tblDefectType

DefectTypeName:
Function (not as expected, capabilities)


# tblElectricalComp

Notes:
Used for:
Mechanical or Software defects


# tblMechanicalComp

Notes:
Used for:
Electrical or Software defects


# tblPersonnel

Notes:
Primarily working on  electronics and power sytem


Title:
Graduate Research Assistan - Ph.D.Graduate student


HistoryOfPreviousRobots:
Worked on CMU robotics club robots, but no experience with robots that was built by big teams.


# tblPictures

Notes:
Nomad version 1.0 prior to TRIWG 96 6/96


# tblRoles

RoleDescription:
Test ad debug electrical parts and subsystems


RoleDescription:
Design and implement high level algorithm


RoleDescription:
Manage the development of the subsystem or system


# tblSubsystems

SubsystemDescription:
Nomad Electronics - Contains controller, cables, aplifiers, and actuators


SubsystemDescription:
Nomad Pointing for communications
This subsystem is responsible for maintaining communications between the mobile robot Nomad and a base station as the robot move.
It is formed by a pointing mechanism on the top of the robot (devloped at CMU) and another pointing mechanism on the base station (using off the shelf components)


