8:00 – 10:30 SR

• Backups.
• Dong’s coming over? Yep. Discussion about queries with Lenny

10:30 – 4:00 FP

• Cleaning up commands. Mostly done
• While testing the “test” part of the app, I’m realizing that my “ratio” calculations have some issues. Before tying to fix them directly, I’m going to try just making a different gripper that has three “sensor spheres” on each finger. Then I can just let my “drag-based” physics to the whole job. Finished. That’s much better
• Quick! What’s wrong with the following code?

	for(int i = 0; i < 3; ++i){
		position[i] += velocityVec[i];
		if(velocityVec[i] > drag*ratio){
			velocityVec[i] -= drag*ratio;
		}else{
			velocityVec[i] = 0;
		}
	}

• Yep, the drag is only being applied for objects moving in a positive direction. This is a problem that has been driving me crazy for days. I thought is was some artifact of the communication between the Phantom control loop (1k hz) and the simulation loop (100 hz). Nope. Simple math mistake. Facepalm.
• Pretty picture for the day. Notice that the grippers now have multiple points of contact:

• I’ve also started to notice how feedback changes the speed that you can perform the task. Haptic and tactor seem pretty close. Open loop is much worse, at least subjectively. Let’s see what the data says.

8:00 – 10:00 SR

• Backups
• Training

10:00 – 4:30 FP

• Goal Box – done. I had to add collision detection for determining if a TargetSphere was touching (for setup) or inside (achieving the goal). I basically wrote an axis-aligned bounding box where the radius of the TargetSphere was either added (inside) to or subtracted from (touching) the size of the GoalBox. I’m not calculating penetration, just looking for sign change on the line segment.
• Added <map> of UI_cmd to handle commands coming from the control system and results coming from the sim. Worked right the first time. Yay, C++ templates!
• Enable/disable haptics/tactors – done. It’s interesting to see how the behavior and feel of the system changes with the different capabilities enabled/disabled.
• Started working on the experiment session management

Picture for the day:

8:00 – 10:30 SR (And 8:00 – 11:00 yesterday)

• Backups
• Walked through some issues with Pat.

10:30 – 4:30 FP

• Integrating test code and event management.
• Adding sound pointers to TargetSphere.

8:00 – 11:00 SR

• Backups.
• Got the list of queries that Lenny and Chris think would be a good starting point.
• Working out hours remaining on FP. Sent off to brad

11:00 – 4:00 FP

• it looks like there are bugs in the audio code. It seems that you cannot do zero speed sessions. And the writing out of results with multiple sound files looks pretty confused. I’m not sure if extra CRs are being put in there or if some of the data isn’t being written out. Need to run some more examples. And I just can’t make it break. Odd.
• Fixing the state problem. Done.
• Fixing the saving issue. Also changing the naming of the speakers to reflect Dolby or not. Done.
• New version release built and deployed.

8:00 – 10:00 SR

• Backups
• A little unpacking. Now that I have a desk, I can have some tea!

10:00 – 4:00 FP

• Adding custom speaker number and placement as per Dr. Kuber’s request.
• Looks like dot product should do the trick: 
• Done! With only a couple of string compare issues. I also had to make the speaker index jump around the subwoofer channel until I can work out how to set the EQ.

8:00 – 11:00 SR

• Backups
• Some more back and forth with Brandon W. Not sure where that’s going.
• Showed Pat VISIBILITY. She might be able to help with a proof-of-concept ROI visualization
• Poked at Dong’s dynamic panel problem

11:00 – 4:00 FP

• Added force interaction between gripper and target sphere
• Determined how to make the ratio calculation work. If the sum of all of the magnitudes on the target is greater than zero, then the ratio equals the magnitude of the sum of the force vectors divided by the sum of each magnitude. A value of 1.0 means that there is no contact. A value of 0.0 is a perfectly opposing contact. As currently implemented, if the ratio is less than 0.5, then the position of the target sphere is set to the point that lies between the two grippers, otherwise the (summed) contact force vector is applied to the target.
• Need to add walls around the work environment so that the targets can’t get out of reach.
• Need to add the metal standoffs for the speakers. I was thinking about ordering some box tubing, but the sizes weren’t optimal. I’ll bend up some metal tonight.
• Need to start adding in the code that will support the experiments
  • Task code
  • Feedback options
    • Position and pressure only
    • Position, force feedback and pressure
    • Position, pressure and vibration
    • Position, force feedback, pressure and vibration.