Project

# Title Team Members TA Documents Sponsor
12 4-Wheel-Drive Invertible Ant-Weight Battlebot
 Haoru Li
Ziheng Qi
Ziyi Wang
 Zhuoer Zhang
# Ant Weight Battlebot
Team Members:
- Ziyi Wang (zw67)
- Ziheng Qi (zihengq2)
- Haoru Li (haorul2)

# Problem

For ant-weight battlebots, 3D-printed materials introduce significant vulnerabilities. Though many robots can effectively defend strikes, they are prone to "turtling" and may lose mobility when flipped. Under the competition rule, losing mobility will quickly lead to knockout. When inverted, weapon systems such as vertical spinners may rotate in an ineffective direction or lose engagement with the opponent entirely, significantly reducing combat effectiveness. Preserving weapon functionality in both orientations remains a critical challenge for ant-weight combat robots. In addition, sudden high-impact collisions can introduce transient power spikes and voltage fluctuations in the power distribution system, which may disrupt onboard electronics, or cause overall system instability during operation.

# Solution

We want to design a invertible 4-Wheel-Drive battlebot with vertical drum spinner. According to our investigation, vertical drum spinner is an ideal weapon choice as it is rigid and can effectively flip opponents. To solve the problem of "turtling," the robot uses a symmetric chassis with wheel diameters exceeding the total chassis height, ensuring traction regardless of orientation. And bigger wheels also allow the battlebot to function even after flipped and the vertical rollercan change its direction as well. To address the cognitive load of inverted driving, we integrate an onboard IMU that automatically detects a flip and remaps the motor control logic in the firmware, making the transition seamless for the operator.
To ensure electrical stability and prevent brownouts, the custom PCB utilizes a decoupled power architecture. We isolate the high-current weapon system from the sensitive logic rails using a high-efficiency switching regulator and a large bulk capacitor array. The robot is divided into three primary subsystems: Power Management, Control & Sensing, and Drive & Weapon Actuation.

# Solution Components

## Subsystem 1: Power Management and Distribution
Provides stable, isolated power delivery to all robot subsystems while meeting the 24V maximum battery voltage requirement. Detail specifications awaits to be put on based on selection of motors.

## Subsystem 2: Control and Communication
Function: Receives operator commands, processes IMU orientation data, and generates appropriate motor control signals with automatic inversion compensation.

*Components:*

* Microcontroller: ESP32-WROOM-32D module with integrated WiFi/Bluetooth
* Part: Espressif ESP32-WROOM-32D
* IMU Sensor: 6-axis accelerometer and gyroscope module
* Part: InvenSense MPU-6050 (GY-521 breakout module)
* Interface: I2C communication at 400kHz

Firmware Logic:

Continuously poll IMU at 100Hz to determine Z-axis orientation
If Z-acceleration indicates inversion (threshold: -8 m/s² to -10 m/s²), apply 180° phase shift to drive motor PWM signals fit the pose change.
Maintain weapon control polarity regardless of orientation
Implement exponential response curve on drive inputs for fine control

## Subsystem 3: Drive Train
Provides four-wheel independent drive with sufficient torque for pushing and maneuverability.

Components:
* 4 Drive Motors with expected weight of ~10g each

## Subsystem 4: Weapon System
Vertical drum spinner delivering kinetic energy impacts to destabilize and damage opponents.

Performance Targets:

Weapon tip speed: 150-200 mph (conservative for material constraints)
Spin-up time: <3 seconds to operating speed
Subsystem

## Sybsystem 5: Chassis and Structure
Provides impact-resistant housing for all components while maintaining invertible geometry and meeting weight requirements.


# Criterion For Success

1. The total weight of the battlebot should always remain below 2 lb. And the robot should execute a complete motor shutdown within 2 seconds once triggered by software or hardware switch.

2. Logic systems (ESP32, IMU) must maintain operation during weapon spin-up and simulated impact loads. And communication should stay on.

3. The robot can work as expected: move according to PC inputs and do not need manual adjustment; weapon spinning vertically; shutdown in time according to PC commands; self-adaptive when flipped (mobility and weapon functionality)

4. The chassis and mounting structures must withstand repeated weapon engagement and collisions without structural failure.

Illini Voyager

Cameron Jones, Christopher Xu

Featured Project

# Illini Voyager

Team Members:

- Christopher Xu (cyx3)

- Cameron Jones (ccj4)

# Problem

Weather balloons are commonly used to collect meteorological data, such as temperature, pressure, humidity, and wind velocity at different layers of the atmosphere. These data are key components of today’s best predictive weather models, and we rely on the constant launch of radiosondes to meet this need. Most weather balloons cannot control their altitude and direction of travel, but if they could, we would be able to collect data from specific regions of the atmosphere, avoid commercial airspaces, increase range and duration of flights by optimizing position relative to weather forecasts, and avoid pollution from constant launches. A long endurance balloon platform also uniquely enables the performance of interesting payloads, such as the detection of high energy particles over the Antarctic, in situ measurements of high-altitude weather phenomena in remote locations, and radiation testing of electronic components. Since nearly all weather balloons flown today lack the control capability to make this possible, we are presented with an interesting engineering challenge with a significant payoff.

# Solution

We aim to solve this problem through the use of an automated venting and ballast system, which can modulate the balloon’s buoyancy to achieve a target altitude. Given accurate GPS positioning and modeling of the jetstream, we can fly at certain altitudes to navigate the winds of the upper atmosphere. The venting will be performed by an actuator fixed to the neck of the balloon, and the ballast drops will consist of small, biodegradable BBs, which pose no threat to anything below the balloon. Similar existing solutions, particularly the Stanford Valbal project, have had significant success with their long endurance launches. We are seeking to improve upon their endurance by increasing longevity from a power consumption and recharging standpoint, implementing a more capable altitude control algorithm which minimizes helium and ballast expenditures, and optimizing mechanisms to increase ballast capacity. With altitude control, the balloon has access to winds going in different directions at different layers in the atmosphere, making it possible to roughly adjust its horizontal trajectory and collect data from multiple regions in one flight.

# Solution Components

## Vent Valve and Cut-down (Mechanical)

A servo actuates a valve that allows helium to exit the balloon, decreasing the lift. The valve must allow enough flow when open to slow the initial ascent of the balloon at the cruising altitude, yet create a tight seal when closed. The same servo will also be able to detach or cut down the balloon in case we need to end the flight early. A parachute will deploy under free fall.

## Ballast Dropper (Mechanical)

A small DC motor spins a wheel to drop [biodegradable BBs](https://www.amazon.com/Force-Premium-Biodegradable-Airsoft-Ammo-20/dp/B08SHJ7LWC/). As the total weight of the system decreases, the balloon will gain altitude. This mechanism must drop BBs at a consistent weight and operate for long durations without jamming or have a method of detecting the jams and running an unjamming sequence.

## Power Subsystem (Electrical)

The entire system will be powered by a few lightweight rechargeable batteries (such as 18650). A battery protection system (such as BQ294x) will have an undervoltage and overvoltage cutoff to ensure safe voltages on the cells during charge and discharge.

## Control Subsystem (Electrical)

An STM32 microcontroller will serve as our flight computer and has the responsibility for commanding actuators, collecting data, and managing communications back to our ground console. We’ll likely use an internal watchdog timer to recover from system faults. On the same board, we’ll have GPS, pressure, temperature, and humidity sensors to determine how to actuate the vent valve or ballast.

## Communication Subsystem (Electrical)

The microcontroller will communicate via serial to the satellite modem (Iridium 9603N), sending small packets back to us on the ground with a minimum frequency of once per hour. There will also be a LED beacon visible up to 5 miles at night to meet regulations. We have read through the FAA part 101 regulations and believe our system meets all requirements to enable a safe, legal, and ethical balloon flight.

## Ground Subsystem (Software)

We will maintain a web server which will receive location reports and other data packets from our balloon while it is in flight. This piece of software will also allow us to schedule commands, respond to error conditions, and adjust the control algorithm while in flight.

# Criterion For Success

We aim to launch the balloon a week before the demo date. At the demo, we will present any data collected from the launch, as well as an identical version of the avionics board showing its functionality. A quantitative goal for the balloon is to survive 24 hours in the air, collect data for that whole period, and report it back via the satellite modem.

![Block diagram](https://i.imgur.com/0yazJTu.png)