Project

# Title Team Members TA Documents Sponsor
15 Selective Listening
Bryce Tharp
John Hammond
Wei Yang Ang
Evan Widloski design_document2.pdf
design_document3.pdf
design_document4.pdf
final_paper2.pdf
presentation1.pptx
proposal1.pdf
Team Members:
johnwh2/John Hammond
wya3/Wei Yang Ang
brycet2/Bryce Tharp

Imagine you are in a noisy environment (a restaurant, concert venue, etc) and you want to listen to one person or “source” in particular. For individuals who struggle with hearing loss this can be a challenging situation, even with modern hearing aids. We want to continue the work done by Ryan Corey and create a system that will allow the user to listen to a single source at a time, when many sources are present.

This project is a continuation of work done by the Augmented Listening Laboratory (Bryce Tharp and John Hammond have been working on this system in previous semesters). This innovation in listening technology attempts to make substantive improvements to traditional hearing aids using multiple microphones as opposed to the standard two microphone hearing aid.

Our proposed solution focuses around a few different subsystems to selectively hear a unique source. We will create a pair of binaural headphones along with a microphone array that the user can wear to hear the desired source . Additionally, we will create a “Volume Control Interface” to manage the volume on one or multiple sources. Finally, we will have additional circuitry using ADCs, Amplifiers, etc. to support the microphones. Much of the software/firmware of the project will be on an FPGA (continuing the work of students in the research group), and the DSP algorithms we will use come from Ryan Corey’s thesis.

Autonomous Sailboat

Riley Baker, Arthur Liang, Lorenzo Rodriguez Perez

Autonomous Sailboat

Featured Project

# Autonomous Sailboat

Team Members:

- Riley Baker (rileymb3)

- Lorenzo Pérez (lr12)

- Arthur Liang (chianl2)

# Problem

WRSC (World Robotic Sailing Championship) is an autonomous sailing competition that aims at stimulating the development of autonomous marine robotics. In order to make autonomous sailing more accessible, some scholars have created a generic educational design. However, these models utilize expensive and scarce autopilot systems such as the Pixhawk Flight controller.

# Solution

The goal of this project is to make an affordable, user- friendly RC sailboat that can be used as a means of learning autonomous sailing on a smaller scale. The Autonomous Sailboat will have dual mode capability, allowing the operator to switch from manual to autonomous mode where the boat will maintain its current compass heading. The boat will transmit its sensor data back to base where the operator can use it to better the autonomous mode capability and keep track of the boat’s position in the water. Amateur sailors will benefit from the “return to base” functionality provided by the autonomous system.

# Solution Components

## On-board

### Sensors

Pixhawk - Connect GPS and compass sensors to microcontroller that allows for a stable state system within the autonomous mode. A shaft decoder that serves as a wind vane sensor that we plan to attach to the head of the mast to detect wind direction and speed. A compass/accelerometer sensor and GPS to detect the position of the boat and direction of travel.

### Actuators

2 servos - one winch servo that controls the orientation of the mainsail and one that controls that orientation of the rudder

### Communication devices

5 channel 2.4 GHz receiver - A receiver that will be used to select autonomous or manual mode and will trigger orders when in manual mode.

5 channel 2.4 GHz transmitter - A transmitter that will have the ability to switch between autonomous and manual mode. It will also transfer servos movements when in manual mode.

### Power

LiPo battery

## Ground control

Microcontroller - A microcontroller that records sensor output and servo settings for radio control and autonomous modes. Software on microcontroller processes the sensor input and determines the optimum rudder and sail winch servo settings needed to maintain a prescribed course for the given wind direction.

# Criterion For Success

1. Implement dual mode capability

2. Boat can maintain a given compass heading after being switched to autonomous mode and incorporates a “return to base” feature that returns the sailboat back to its starting position

3. Boat can record and transmit servo, sensor, and position data back to base

Project Videos