Project

# Title Team Members TA Documents Sponsor
13 Sun Tracking Umbrella
 Dora Stavenger
Megan Cubiss
Sarah Wilson
 Wesley Pang proposal1.pdf
Team Members
- Dora Stavenger (doraas2)
- Sarah Wilson (sarahw7)
- Megan Cubiss (mcubiss2)

Problem

When sitting outside in urban third spaces, it is often too hot or bright to stay there for a while. Even at low temperatures, exposure in direct sun gets uncomfortable and/or unhealthy quick. Many outdoor spaces do have stationary umbrellas but, once set, they only help for a period of time which can lead to discomfort from excessive heat/brightness. This can be avoided by adjusting the umbrella throughout the day but they are often quite heavy and hard to maneuver.

Solution Overview

To solve this problem, we suggest an umbrella that tracks the position of the sun using solar panels in addition to other sensors and adjusts the tilt of the umbrella to provide UV protection for the user and ensure comfort. To prove out this concept we are proposing to make a smaller model of an umbrella, using resources from the machine shop as well as doing some design ourselves. We will also do the math to prove that our design could be scaled up and withstand the extra load from the heavier weight of a real umbrella.

Solution Subsystems

##Subsystem 1: Model Umbrella

This subsystem is the mechanical basis for the project:
The canopy would be scaled to about that of a personal rain umbrella.
The rain umbrella would attach to an elbow joint allowing for tilting motion.
The base would attach to a stable plate and a bearing allowing for circular motion.

##Subsystem 2: Solar Cells / Brightness Sensors

This subsystem would be responsible for powering the umbrella as well as provide data on light intensity.
A ring of solar cells towards the widest portion of the umbrella as well as solar cells towards the top.
Solar cells power moving mechanisms as well as provide backup power through battery storage.
Light intensity is measured using these solar cells to determine optimal positioning.

##Subsystem 3: Motor for Solar Angle Tracking

This subsystem would be responsible for tilting the canopy of the umbrella:
A stepper motor would be used due to low speed, high torque application.
Physical stop built in for added safety so the canopy does not fall.
Motor control done using H-bridge.

##Subsystem 4: Motor for Solar Position Tracking

This subsystem would be responsible for rotating the entire umbrella:
A stepper motor would be used in order to keep design consistent.
Motor control done using separate H-bridge from Subsystem 3.

##Subsystem 5: wifi/bluetooth/communication

This subsystem is responsible for the communication between the physical device on the umbrella and a user’s phone/application. Using a ESP32, a web server can be established which can be connected to a laptop/display via the existing wifi abilities. This would allow two way data communication where data could be viewed in a simple web browser with some sort of user interface to allow commands to be pushed back to the microcontroller. This would also allow users on the same network to access the page and interact with the device.

Criterion for Success

Outcomes :
A scaled version of the working product with the proof that it is scalable to a full sized version. The umbrella tilts based on differences in intensity detected by the solar cells. The umbrella is structurally sound and does not fall over during any motion. Data from the solar cell is displayed and user input is possible.

Hardware :
The device does not get in the way of user experience.
Solar cells send accurate data to software components.
Motors respond accordingly to change umbrella positioning.

Software :
Data from solar cells are accurately received and processed by software.
Software to determine how umbrella positioning is to move for optimal coverage.
Accurately disperses information for motor movement.

Antweight Battlebot Project

Jeevan Navudu, Keegan Teal, Avik Vaish

Antweight Battlebot Project

Featured Project

# Antweight Battlebot

Team Members:

- Keegan Teal (kteal2)

- Avik Vaish (avikv2)

- Jeevan Navudu (jnavudu2)

# Problem

In order to compete in Professor Gruev’s robot competition, there are many constraints that need to be met, including:

- Maximum weight (2lbs)

- Allowed materials (3D-printed thermoplastics)

- Locomotion system and fighting tool

- Wireless control via Bluetooth or Wifi

The main goal of this competition is to design a Battlebot that is capable of disrupting the functionality of the other Battlebots with our fighting tool while maintaining our own functionality.

# Solution

For the project, we plan to build a battlebot with a custom electronic speed controller (ESC) that can independently control three brushless motors: two for the drive system, and one for the fighting tool. This ESC will be controlled by an STM32 microcontroller, to which we will add a Bluetooth module to connect to it and specify how much power we want to send to each motor. To communicate with our robot, we will use a laptop that can connect to Bluetooth.

# Solution Components

## Vehicle Controller

The main subsystem of the robot will be a combined vehicle control board and ESC. This subsystem will contain an STM32 Microcontroller that will serve as the brain for the whole robot. With this MCU, we’ll be able to flash our whole software package that will be able to control the speed and direction of the robot, the robot’s weapon, and the Bluetooth communication.

## Power Module

This subsystem includes the battery, the voltage regulators/converters needed to power the electronics, and the necessary battery monitoring circuitry. Specifically, for the battery, we will use a 14.8V 4S2P LiPo pack to power all the components. There will also be a voltage short detection circuit for the battery that will shut down the robot in case of a short to ensure safe practices. This subsystem also contains a 5V linear regulator and 3.3V linear regulator to power the low voltage electronics.

## Drivetrain/Powertrain

This subsystem includes the motors and H-bridges needed to control both the wheels and weapon of the robot. The H-bridges will be made with regular N-MOSs that will be controlled by a PWM signal sent from the STM32 MCU. This H-bridge setup will be able to control the voltage and polarity sent to the motors, which will be able to control the speed of the wheels or weapon. This subsystem will also include the mechanical wheels of the robot and actual hardware of the weapon, which will be a spinning object. Since all the wheels and the weapon have the same mechanical motion, they can all use the same hardware and software electronically, with minor adjustments in motor selection and the actual mechanical hardware/peripheral.

## Bluetooth Module

One big requirement for this project is the ability for the robot to be controlled wirelessly via laptop. The STM32 MCU has bluetooth capabilities, and with additional peripheral hardware, the robot will be able to communicate over bluetooth with a laptop. The goal for the laptop is to be able to control the speed, direction, and weapon of the robot wirelessly and also have a display for live telemetry.

## Mechanical Design

The last part of our project would be the mechanical design of the robot chassis and weapon. For the chassis and weapon material, we decided to go with PLA+ as it offers a blend of being strong and robust but not being too brittle. The drive system will be a 2-wheeled tank style drive with one motor controlling each side of the robot. For the weapon, we are looking to utilize a fully 3D-printed drum that will have a 100% infill to maximize the rotational inertia which can lead to bigger impacts.

## Criterion for Success

We would consider our project a success if we are able to communicate with the robot from our computer as in sending throttle and steering commands to the robot, if those commands are then processed on the robots microprocessors and the motors are sent the according power needed to move and behave in the way that we want during a match.

## Alternatives

The most commonly used electronics in current antweight battlebots consist mostly of RC drone parts. We plan to create a very similar ESC to those on the market but it will have an integrated Bluetooth wireless capability as well as telemetry monitoring. We also want to focus on minimizing packaging size to lower weight and increase flexibility as much as possible.

Project Videos