Multifunctional Recreation Space for IT Company Office

Problem Statement

The conventional manufacturing processes using assembly fixtures  lack the precision required for manufacturing miniaturized ultrasound devices at high-volume production. This is required to fit inside a small catheter. Achieving the necessary +/- 15 micron accuracy for critical assembly steps, including UV adhesive dispensing, part alignment, and clamping, often relies on manual or semi-automated methods. These methods are prone to human error, time-consuming, and inconsistent, leading to increased scrap rates, higher production costs, and limitations in scaling manufacturing output. Therefore, there is a critical need for an automated solution that can consistently deliver ultra-high precision across multiple assembly stages to enable reliable and efficient manufacturing of these advanced miniaturized components.

Bill of Materials (BOM)

The following table lists the components used in the prototype, including part numbers, quantities, materials, estimated costs, and potential suppliers.

Motor Review

Basic PID Controller Script

PYTHON
import time

class PIDController:
    """A PID controller for precise control in robotic systems.

    Attributes:
        kp (float): Proportional gain.
        ki (float): Integral gain.
        kd (float): Derivative gain.
        setpoint (float): Desired target value.
        prev_error (float): Previous error for derivative calculation.
        integral (float): Accumulated integral term.
        dt (float): Time step in seconds.
    """

    def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0.0):
        """Initialize PID controller with gains and setpoint.

        Args:
            kp: Proportional gain for error response.
            ki: Integral gain for accumulated error.
            kd: Derivative gain for error rate of change.
            setpoint: Desired target value (default: 0.0).
        """
        self.kp = kp
        self.ki = ki
        self.kd = kd
        self.setpoint = setpoint
        self.prev_error = 0.0
        self.integral = 0.0
        self.dt = 0.01

    def compute(self, current_value: float) -> float:
        """Compute PID output based on current system value.

        Args:
            current_value: Current measured value of the system.

        Returns:
            float: Control signal to adjust the system.
        """
        # Calculate error
        error = self.setpoint - current_value

        # Proportional term
        p_term = self.kp * error

        # Integral term
        self.integral += error * self.dt
        i_term = self.ki * self.integral

        # Derivative term
        derivative = (error - self.prev_error) / self.dt
        d_term = self.kd * derivative

        # Calculate total output
        output = p_term + i_term + d_term

        # Update previous error
        self.prev_error = error

        return output


if __name__ == "__main__":
    

    # Initialize PID controller
    pid = PIDController(kp=1.0, ki=0.1, kd=0.05, setpoint=10.0)

    # Simulate mode (e.g., motor position)
    current_value = 0.0
    for _ in range(100):
        control_signal = pid.compute(current_value)
        # Simulate system response: position updates based on control signal
        current_value += control_signal * 0.1
        print(f"Current Value: {current_value:.2f}, "
              f"Control Signal: {control_signal:.2f}")
        time.sleep(pid.dt)