Today was the final day of our time at Intuitive. Work continued on the OCT projects as code was rewritten onto Arduinos and registered on signals, which were then observed on the oscilloscope. Meanwhile, more tests were done on 3D printed pieces, and a presentation was given to the mechanical engineers at the office about the design challenge, ideas, and results.
Today at Intuitive we continued our work on OCT (Optical Coherence Tomography) projects by mapping out multiple paths in python, some of the paths were, a square with n amount of lines, a circle cut up at a certain angle, and an Archimedes spiral with equidistant points by arc length. Calculating the distance of the points on the spiral involved some interesting calculus, especially with the intention to implement it on an Arduino which has far less memory than our computers.
Today at Intuitive Surgical we finished our investigation into the voltage, current, and temperature of a linear actuator while it is performing work onto differing amounts of mass. Afterwards me began our next and final project: creating a signal generator to facilitate an OCT (Optical Coherence Tomography) solution. OCT is a technique used for creating three dimensional images, such as of retina, by reflecting electromagnetic waves of different frequencies and measuring the phase shift. We also stress-tested some 3D prints in the Instron machine.
Today at Intuitive, Rohen and I worked on creating and analyzing linear actuators, programming them using Python from our computers. The actuator was programmed to oscillate 24 times, carrying a certain load. Sensors were used to find the voltage, the current, and the temperature used by the motor to do work upon the weights. The data was then graphed and written into data files for analysis.
Today at first we experimented with circuit designs with capacitors, resistors, and diodes and used the oscilloscope, the white box on the left, to measure what the resultant voltage would be if passed voltage as a sine function. We then built the same circuits in a circuit simulation software and compared the results. Afterwards we did activities with Arduino programming, making programs to write text or show images on a screen or to read inputs from a joystick. Additionally, some designs were 3D printed with the goal of being able to withstand 50 pounds of force applied on a cantilever beam, upon which testing will commence later.
Today we began with a tour of the office, starting with their workshops and testing spaces for mechanical and electrical engineers. We saw how their surgery robots worked and the designs they had used, including the evolution of their technology since the 90s. We learned how to control the robots and we were able to use on to perform tasks that are used for testing, such as tying a wire. 
The robots are extremely simple to use, it only took a few minutes to get used to the controls and start doing more complex functions. Afterwards we toured their refurbishing facility where they take older generations and turn them into the new robots.