Project

# Title Team Members TA Documents Sponsor
17 Remote Driving System
 Bo Pang
Jiahao Wei
Kangyu Zhu
 design_document1.pdf
final_paper1.pdf
proposal1.pdf
 Liangjing Yang
#### TEAM MEMBERS
Jiahao Wei (jiahaow4)
Bo Pang (bopang5)
Kangyu Zhu (Kangyuz2)

## REMOTE DRIVING SYSTEM
#### PROBLEM:
In daily life, people might not be able to drive due to factors like fatigue and alcohol. In this case, remote chauffeur can act as the driver to make the driving safe and reduce the incidence of traffic accidents. Remote chauffeuring can improve the convenience of driving. In the case of urban traffic congestion and parking difficulties, remote chauffeurs allow drivers to park their vehicles in parking lots away from the city center and then deliver them to their destination via remote control.

#### SOLUTION OVERVIEW:
The remote driving system is designed to provide real-time feedback of the car's external environment and internal movement information to the remote chauffeurs. Through the use of advanced technologies, the remote chauffeurs can remotely operate the car's movement using various devices. This system is capable of monitoring the car's speed, distance from obstacles, and battery life, and transmitting this information to the remote chauffeurs in a clear and easy-to-understand format.

#### SOLUTION COMPONENTS:
##### Modules on TurtleBot3 :
- The mechanical control system: to achieve the basic motion functions of the TurtleBot3 car.
- The distance sensing system used for monitoring the surrounding environment: Using LiDAR to detect the distance of the car in different directions.
- The system used for monitoring the vehicle's status: real-time monitoring the car's battery power, speed, etc., and uploading the data to the PC server in real-time.
##### Server Modules:
- The transmission system used to remotely control the car: implemented using Arduino IDE.
- The system used to build an AR-based information interaction system: implemented using Unity.
- The system used to output specific car motion commands: implemented using ROS to control the car.
##### HRI modules:
- The gesture recognition system used to recognize gestures given by people and feed back to the central PC server.
- The device used for interaction between the car and people: transmitting real-time surrounding information of the car to the Hololens 2 glasses in video form.
#### CRITERION FOR SUCCESS:
- Functionality: The remote driving system needs to be able to facilitate interaction between the user and the vehicle, enabling the user to remotely control the vehicle's steering, acceleration, and deceleration functions.
- User experience: The user can obtain real-time information about the surrounding environment while driving the vehicle through the glasses, and control the vehicle's movement through gestures.
- Environmental parameter detection: The vehicle can obtain distance information about the environment and its own real-time information.
- Durability and stability: The server needs to maintain a stable connection between the vehicle and the user.
#### DISTRIBUTION OF WORK:
- ECE STUDENT PANG BO:

Implementing the ROS interaction with the PC, using the ROS platform to control the car's speed and direction.

- ECE STUDENT WEI JIAHAO:

Building the car, implementing environmental monitoring and video transmission, ensuring stable transmission of environmental information to the user.
Implementing speed measurement, obstacle distance detection, and battery level monitoring for the car.

- EE STUDENT ZHU KANGYU:

Designing the AR interaction, issuing AR information prompts when the car is overspeeding or approaching obstacles.
Implementing hand gesture recognition for interaction between hololens2 and PC.

Recovery-Monitoring Knee Brace

Featured Project

Problem:

Thanks to modern technology, it is easy to encounter a wide variety of wearable fitness devices such as Fitbit and Apple Watch in the market. Such devices are designed for average consumers who wish to track their lifestyle by counting steps or measuring heartbeats. However, it is rare to find a product for the actual patients who require both the real-time monitoring of a wearable device and the hard protection of a brace.

Personally, one of our teammates ruptured his front knee ACL and received reconstruction surgery a few years ago. After ACL surgery, it is common to wear a knee brace for about two to three months for protection from outside impacts, fast recovery, and restriction of movement. For a patient who is situated in rehabilitation after surgery, knee protection is an imperative recovery stage, but is often overlooked. One cannot deny that such a brace is also cumbersome to put on in the first place.

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Solution:

Our group aims to make a wearable device for people who require a knee brace by adding a health monitoring system onto an existing knee brace. The fundamental purpose is to protect the knee, but by adding a monitoring system we want to provide data and a platform for both doctor and patients so they can easily check the current status/progress of the injury.

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Audience:

1) Average person with leg problems

2) Athletes with leg injuries

3) Elderly people with discomforts

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Equipment:

Temperature sensors : perhaps in the form of electrodes, they will be used to measure the temperature of the swelling of the knee, which will indicate if recovery is going smoothly.

Pressure sensors : they will be calibrated such that a certain threshold of force must be applied by the brace to the leg. A snug fit is required for the brace to fulfill its job.

EMG circuit : we plan on constructing an EMG circuit based on op-amps, resistors, and capacitors. This will be the circuit that is intended for doctors, as it will detect muscle movement.

Development board: our main board will transmit the data from each of the sensors to a mobile interface via. Bluetooth. The user will be notified when the pressure sensors are not tight enough. For our purposes, the battery on the development will suffice, and we will not need additional dry cells.

The data will be transmitted to a mobile system, where it would also remind the user to wear the brace if taken off. To make sure the brace has a secure enough fit, pressure sensors will be calibrated to determine accordingly. We want to emphasize the hardware circuits that will be supplemented onto the leg brace.

We want to emphasize on the hardware circuit portion this brace contains. We have tested the temperature and pressure resistors on a breadboard by soldering them to resistors, and confirmed they work as intended by checking with a multimeter.