7:30 – 10:30, 2:30 – 4:00 VISIBILITY

• Swung by the site to check on things. All is running. Deleted some unused tables and checked on usage
• Work with Dong today to finalize PPM for Wednesday demo
• Switched all my passwords everywhere. Here’s hoping things will still be working tomorrow…
• Discussing our need for a server with Rick Hally

10:30 – 2:30 FP

• Built a linkage to have reaction motions work independently from the input forces
• And that works. What this means is that for the system to work, there needs to be a “perceptual(?)” reference that the opposing motion can move relative to. So the prototype with the holes in it for actuators is actually close to what it should be.
• Important thing to note – the kf motor should be connected to the reference structure so that the forces coming back from the kf device aren’t modifying the input forces. The test setup is adding these kind of artifacts.
• Ordered threaded rod (93250A026), nuts (94804A325), and rod ends (60645K441) from mcmaster ($58.34)
• Ordered two 12v/2A power supplies, a Servo Motor Controller and two 30mm linear actuators from Phidgets ($341.50 CAD)
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