Lab

Recommended Tools

In addition to the resources that the course provides, students may find it useful to obtain the tools below:

  • wire cutter
  • wire stripper
  • needle nose pliers
  • screwdrivers
  • hex set (ball ends)
  • electrical tape
  • small scissors
  • a small file

Lab Resources

The Senior Design Lab is located at ZJUI room D225. This lab provides you access to various equipment, some spare parts, computers, and a space to work on your senior design project. In addition, course staff will make themselves available in this lab during their office hours to provide guidance on your project throughout the semester. Your weekly meetings with your TA will also likely be at this location.

It is our intention that this laboratory space provides you and your team with all the tools you would need to develop and test your project (within reason, of course!). If there is something that you require in the lab to complete your project that does not exist in the lab, talk to your TA and we will see how we can solve your issue.

Lab Rules

There are two overarching rules of working in the Senior Design Lab (and, frankly, any shared lab). First, be safe, and second, be courteous. Lab privileges will be revoked if you fail to complete the required laboratory safety training or if you break any of the lab rules. Specific points and examples of what we expect:

Breaking the rules or exhibiting bad laboratory etiquette will lead to a loss of points and/or revocation of laboratory access.

Lab Bench Reservations

We do not expect the lab to become so crowded such that finding a lab bench to work at becomes difficult. However, in the case that this does happen (particularly in semesters with very high enrollment), we will move to a Lab Bench Reservation system. Reserving a bench guarantees that spot for you, however each team may only book one lab bench at a time, and for a maximum of 4 hours per day.

If the lab needs to move to a reservation-based system, you will be notified ahead of time.

A few ground rules:

  1. You may use a lab bench (a) during a time for which you have it reserved or (b) any time during which it is not reserved in the system (on a first-come-first-served basis). However, if you are working at a bench that is unreserved and somebody reserves it using the online system, the group with the reservation gets the lab bench.
  2. There is a limit on the amount of time for which you can reserve benches in ZJUI D225. The limit is currently a total of 4 hours of total bench time in the lab per group per day (e.g., 2 hours at Bench A and 2 hours at Bench B would max out your team's reservations for the day). While this may seem restrictive, keep in mind that the course serves more than 30 groups in a typical semester and the lab has only 14 benches. Also keep in mind that you can work at a bench if it is unreserved.
  3. Some lab benches have specialized equipment at them, such as digital logic analyzers. Try to reserve the lab bench that has the equipment that you need.
  4. Cancel reservations that you will not need as soon as possible to give other groups a chance to reserve the lab bench. You can cancel a reservation up to 1 hour before time and not have it count against your daily allotment.
  5. Conflicts and/or reports of people not following these rules should be sent to your TA with the course faculty in copy.
  6. Above all, be courteous. Especially near the end of the semester, the lab will be more crowded and many teams are stressed. Clean up the lab bench when you are done with it. Start and end your sessions on time. Be patient and friendly to your peers and try to resolve conflicts professionally. If we notice empty lab benches that have been reserved, we will cancel your reservations and limit your ability to reserve lab benches in the future. Similarly, do not reserve more time than you will need. If we notice that you are frequently canceling reservations, we will limit your ability to reserve lab benches in the future. Finally, do not try to exploit the system and reserve a bench for 30 minutes every hour for eight hours. We will notice this and revoke your ability to reserve a bench.

High Noon Sheriff Robot

Yilue Pan, Shuting Shao, Yuan Xu, Youcheng Zhang

Featured Project

# MEMBERS:

- Yuan Xu [yuanxu4]

- Shuting Shao [shao27]

- Youcheng Zhang [yz64]

- Yilue Pan [Yilvep2]

# TITLE:

HIGH NOON SHERIFF ROBOT

PROBLEM:

Nowadays with the increasing number of armed attacks and shooting incidents. The update for public places needs to be put on the agenda. Obviously, we could not let police and security to do all the jobs since humans might neglect some small action of threat behind hundreds of people and could not respond quickly to the threat. A second of hesitation might cost an innocent life. Our team aims on making some changes to this situation since nothing is higher than saving lifes not only victims but also gunners. We find some ideas in the Old western movies when two cowboys are going to a high noon duel, the sheriff will pull out the revolver quicker than the other and try to warn him before everything is too late. If we can develop a robot that can detect potential threats and pull out weapons first in order to warn the criminal to abandon the crime or use non-lethal weapons to take him down if he continues to pull out his gun.

# SOLUTION OVERVIEW:

In order to achieve effective protection in a legal way, we have developed the idea of a security robot. The robot can quickly detect dangerous people and fire a gun equipped with non-lethal ammunition to stop dangerous events.

The robot should satisfy the following behavioral logic:

- When the dangerous person is acting normally and there is no indication of impending danger, the robot should remain in standby mode with its robot arm away from the gun.

- When the dangerous person is in a position ready to draw his gun or other indication of dangerous behavior, the robot is also in a drawn position and its arm is already clutching the gun.

- When the dangerous person touches his gun, The robot should immediately draw the gun, move the hammer and finish aiming and firing to control the dangerous person. This type of robot would need to include three subsystems: Detection system, Electrical Control system, and Mechanical system.

# SOLUTION COMPONENTS:

## [SUBSYSTEM #1: DETECTION SUBSYSTEM]

This subsystem consists of a camera and PC. We are going to use YOLO v5 to detect object, determine the position of human and the gun. Use DeepSORT to track the object, let the camera follow the opponent. Use SlowFast to detect opponent’s behavior.

## [SUBSYSTEM #2: ELECTRICAL CONTROL SYSTEM]

This subsystem consists of a STM32, two high speed motors, two gimbal motors, one motor for revolver action and position sensor. The STM32 serves as the controller for the motors. The high speed motor will be used to move the mechanical grab to grab the revolver and pull it out as fast as possible so that it will use the position sensor as the end stop point instead of PID control. The gimbal motors serve as Yaw and Pitch motion for the revolver to control the accuracy of the revolver so that it needs encoders to give the angle feedback.

## [SUBSYSTEM #3: MECHANICAL SYSTEM]

This subsystem consists of a three-degree-of-freedom robot arm and a clamping mechanism fixed to the end of the arm. The clamping mechanism is used to achieve the gripping of the gun, the moving of the hammer and the pulling of the trigger. The mechanical arm is used to lift and aim the gun.

# CRITERION FOR SUCCESS

- Move Fast. The robot must draw its gun and aim faster than the opponent;

- Warning First. If opponent’s hand moves close to the gun on his waist, the robot should draw the gun and aim it at the opponent without firing. If the opponent gives up drawing a gun and surrender, the robot should put its gun back in place. Otherwise, the robot will shoot at the opponent.

- Accurate shooting. Under the premise that the opponent may move, the robot must accurately shoot the opponent's torso.

# DISTRIBUTION OF WORK

- EE Student Shuting Shao: Responsible for object detection and object tracking.

- EE Student Yuan Xu: Responsible for behavior detection and video processing.

- EE Student Youcheng Zhang: Responsible for electrical control system.

- ME Student Yilue Pan: Responsible for the Mechanical system.