Project

# Title Team Members TA Documents Sponsor
65 Chip Storage (Dispenser)
Qi Chen
Tianyang Sha
Xulun Huang
Raman Singh design_document2.pdf
final_paper1.pdf
photo1.png
presentation1.pptx
proposal2.pdf
# Chip Storage

Team Members:
- Qi Chen (qic7)
- Tianyang Sha (tsha3)
- Xulun Huang (xulunh2)

# Problem
As we all know, ECE classes like ECE210 and ECE385 will dissipate kits with chips and electronic parts. Electronic parts can be easily distinguished because of their size and shape; chips on the other hand look generally the same: a small black box with several pins. For a class with more than 200 students, placing the right number of intended chips becomes lab-intensive and time-consuming.

# Solution
We propose to make a system that can dispense a certain number of intended chips. The user can input the desired list of chips on the terminal and then hit the button to dispense those.

To extend the functionality, an identification system can be integrated to accommodate a pile of chips are all different types. For the input, the identification system will need a sequence of chips. Each chip will then be identified and placed into a specific slot. For identification purposes, either text recognition or barcode/QR code can be implemented.

# Solution Components

## Subsystem 1: Chip delivery system.[1]

This subsystem will accept a sequence (inline) of different chips and output them one by one for the scanner to use.


## Subsystem 2: Chip identification subsystem.[1]

This subsystem will have a barcode scanner to identify the chip and tell the controller chip ID. For identification, the scanning area will have at most one chip at a time, and the chip must be placed at a proper angle to the scanner. These requirements will be fulfilled by the Chip delivery system.

Explain what the subsystem does. Explicitly list what sensors/components you will use in this subsystem. Include part numbers.


## Subsystem 3: Storage subsystem [1]
This subsystem will place chips into their corresponding slot(long bar shape). Each slot will hold one specific type of chip. For example, slot#1 will hold chip HCF4072B, and slot#2 will hold chip SN74ALS21. All chips without a barcode will be grouped in one slot.

## Subsystem 4: Dispensing subsystem
This subsystem will dispense the intended chip from the storage.
At the bottom of each storage chip bar, an electric motor could drive a stick to push the very bottom chip into a funnel-shaped collecting place.


## Subsystem 5: Power subsystem
This subsystem is responsible for the power supply of the whole system. We will use a battery to deliver power.

## Subsystem 6: User terminal
This subsystem will accept the user's chip request (chip ID and number) through the USB port.

## Subsystem 7: Control system
Input part[1]: A microcontroller accepts signals from the camera and sends signals to chip delivery, identification, and storage systems.
Output part: A microcontroller accepts a file from users via a USB connection and sends signals to the dispensing system.

_[1]: These systems may not be required. Since chips are already categorized into different piles when bought by staff. Loading the chip manually may be accepted._

# Criterion For Success

Describe high-level goals that your project needs to achieve to be effective. These goals need to be testable and not subjective.

- A sequence of, user-input, mixture chips get classified individually and stored in certain slots. (depending on the actual usage environment, this might not be critical)
- After the user chooses desired chips, the dispenser system outputs specified chips with the correct numbers.
- The dispenser system can output a single chip.
- Chips in the storage system form a regular bar shape by stacking them one by one.

Dynamic Legged Robot

Joseph Byrnes, Kanyon Edvall, Ahsan Qureshi

Featured Project

We plan to create a dynamic robot with one to two legs stabilized in one or two dimensions in order to demonstrate jumping and forward/backward walking. This project will demonstrate the feasibility of inexpensive walking robots and provide the starting point for a novel quadrupedal robot. We will write a hybrid position-force task space controller for each leg. We will use a modified version of the ODrive open source motor controller to control the torque of the joints. The joints will be driven with high torque off-the-shelf brushless DC motors. We will use high precision magnetic encoders such as the AS5048A to read the angles of each joint. The inverse dynamics calculations and system controller will run on a TI F28335 processor.

We feel that this project appropriately brings together knowledge from our previous coursework as well as our extracurricular, research, and professional experiences. It allows each one of us to apply our strengths to an exciting and novel project. We plan to use the legs, software, and simulation that we develop in this class to create a fully functional quadruped in the future and release our work so that others can build off of our project. This project will be very time intensive but we are very passionate about this project and confident that we are up for the challenge.

While dynamically stable quadrupeds exist— Boston Dynamics’ Spot mini, Unitree’s Laikago, Ghost Robotics’ Vision, etc— all of these robots use custom motors and/or proprietary control algorithms which are not conducive to the increase of legged robotics development. With a well documented affordable quadruped platform we believe more engineers will be motivated and able to contribute to development of legged robotics.

More specifics detailed here:

https://courses.engr.illinois.edu/ece445/pace/view-topic.asp?id=30338

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