Project

# Title Team Members TA Documents Sponsor
34 Portable Plotter Robot
 Matthew Paul
Sagnik Chakraborty
Shinan Calzoni
 Dongming Liu design_document1.pdf
other1.pdf
proposal1.pdf
proposal2.pdf
# Portable Plotter Robot

Team Members:

- Sagnik Chakraborty (sagnik3)
- Shinan Calzoni (calzoni2)
- Matthew Paul (mjpaul3)

# Problem

One of the biggest problems with plotter machines is their bulky rails needed to guide the tool head. This makes transportation a hassle and limits their use cases to offices with the space to house them.

# Solution

To solve this issue, we propose a portable plotting system that uses a small robot to hold a tool head and drive around the writing surface. This eliminates the need for any rails and allows the user to plot both on small and large scales. The system will also have 4 reflective markers to put on the corners of the writing surface and sensors on the device to make sure it does not leave the area. There will be a web app to communicate to the device what it should draw.

# Solution Components

## Subsystem 1: Driving and Motion

There will be 4 wheels with their respective stepper motors (Nema 17) and motor drivers (DRV8825) to control the plotter's movement. It also will contain an additional servo motor (HS-55) to actuate the tool head up and down onto the writing surface. Most of the subsystems will be connected to an ESP32 microcontroller, this subsystem will use it for controlling each of the motors.

## Subsystem 2: Boundary Detection and Positioning

This subsystem will contain the ultrasonic sensor (HC-SR04) to accurately position and keep the device within the reflective boundary markers. It will communicate with the ESP32 microcontroller to relay sensor information and determine positioning.
*Note: We are also looking into using UWB signals for more accuracy per Prof. Fliflet’s suggestion, specifically the RYUW122 module.

## Subsystem 3: Communication and Control

Since the ESP32 has built-in WIFI capabilities, we will communicate with a web app to relay instructions for plotting and handling different commands. The web app will have a simple interface that allows the user to input measurements for simple shapes. The user will be able to remotely start the plotter from the app.
*Note: We are looking into the possibility of having this machine read gcode that could be generated from vectorized files. If we go this route, an additional Raspberry Pi could be used for the image processing.

## Subsystem 4: Power Management

This subsystem will use rechargeable lithium-ion batteries and various voltage regulators so that the correct amount of power can be delivered to the motors, sensors, and microcontroller.

# Criterion For Success

1. The device can communicate with the web app to plot closed, single-lined shapes.
2. The Device footprint can stay within the boundary dictated by corner markers.
3. The Toolhead can actuate up and down to draw discontinuous lines.

GYMplement

Srinija Kakumanu, Justin Naal, Danny Rymut

Featured Project

**Problem:** When working out at home, without a trainer, it’s hard to maintain good form. Working out without good form over time can lead to injury and strain.

**Solution:** A mat to use during at-home workouts that will give feedback on your form while you're performing a variety of bodyweight exercises (multiple pushup variations, squats, lunges,) by analyzing pressure distributions and placement.

**Solution Components:**

**Subsystem 1: Mat**

- This will be built using Velostat.

- The mat will receive pressure inputs from the user.

- Velostat is able to measure pressure because it is a piezoresistive material and the more it is compressed the lower the resistance becomes. By tracking pressure distribution it will be able to analyze certain aspects of the form and provide feedback.

- Additionally, it can assist in tracking reps for certain exercises.

- The mat would also use an ultrasonic range sensor. This would be used to track reps for exercises, such as pushups and squats, where the pressure placement on the mat may not change making it difficult for the pressure sensors to track.

- The mat will not be big enough to put both feet and hands on it. Instead when you are doing pushups you would just be putting your hands on it

**Subsystem 2: Power**

- Use a portable battery back to power the mat and data transmitter subsystems.

**Subsystem 3: Data transmitter**

- Information collected from the pressure sensors in the mat will be sent to the mobile app via Bluetooth. The data will be sent to the user’s phone so that we can help the user see if the exercise is being performed safely and correctly.

**Subsystem 4: Mobile App**

- When the user first gets the mat they will be asked to perform all the supported exercises and put it their height and weight in order to calibrate the mat.

- This is where the user would build their circuit of exercises and see feedback on their performance.

- How pressure will indicate good/bad form: in the case of squats, there would be two nonzero pressure readings and if the readings are not identical then we know the user is putting too much weight on one side. This indicates bad form. We will use similar comparisons for other moves

- The most important functions of this subsystem are to store the calibration data, give the user the ability to look at their performances, build out exercise circuits and set/get reminders to work out

**Criterion for Success**

- User Interface is clear and easy to use.

- Be able to accurately and consistently track the repetitions of each exercise.

- Sensors provide data that is detailed/accurate enough to create beneficial feedback for the user

**Challenges**

- Designing a circuit using velostat will be challenging because there are limited resources available that provide instruction on how to use it.

- We must also design a custom PCB that is able to store the sensor readings and transmit the data to the phone.