Project

# Title Team Members TA Documents Sponsor
24 An Autonomous Pool Cleaner
 Hanwei Yu
Jiayu Zhang
Tianle Li
Wenbo Ye
 Tielong Cai design_document1.pdf
final_paper1.pdf
proposal1.pdf
 Rakesh Kumar
# TEAM MEMBERS
- Jiayu Zhang (jiayu7)
- Hanwei Yu (hanweiy3)
- Wenbo Ye (wenboye2)
- Tianle Li (Tianlel2)
# Problem
Pools need to be cleaned regularly. The traditional manual cleaning method is time-consuming and labor-intensive. Therefore, pool owners need a more efficient measure to keep the pool clean with minimal intervention.

# Solution Overview
Our solution is to create an autonomous pool cleaner. The cleaner is a waterproof machine which contains a sensor that helps it detect obstacles and avoid collisions, wheels and tracks to help it move around, brushes and filters that collects debris and other particles from the pool water, batteries that provides power and a remote control system that allows the machine to be started and stopped from the ground.

# Solution Components
## Propulsion Subsystem
- Wheels and motors that enable the robot to move.
## Body Subsystem
- The shell of the cleaner and waterproof elements to protect the inside circuits and chips.
## Information Collection Subsystem
- Use ultrasonic underwater sensors to enable the robot to walk underwater along walls, steer etc. The robot moves around the pool’s edge starting from a certain position. Use this to create the pool's contour information L,W.
- Use an analog-to-digital converter to input the pool’s information to the processor.
## Route Design Subsystem
- Inner helical trajectory. The spiral trajectory can help to reduce the overall cleaning time required, which can help to improve the robot's performance and reduce energy consumption.
- Teraboard/STM32/Arduino will be used as processor of the control system. It acquires data from sensors, plans a route, and then controls the propulsion subsystem. Which one to use depends on whether it is available in the laboratory.
## Communication Subsystem
- A floating infrared receiver that connects to the cleaner under the water.
- A infrared emitter that is used to control the cleaner.
## Cleaning Subsystem
- Brushes that scrub the surfaces of the pool
- Filter that collects debris and other particles and filter water
## Power Subsystem.
- Rechargeable battery
## Big Object Collection Subsystem
- Collect swimmers' lost items, such as swimming goggles in the process of cleaning up.
- A motor and a idler wheel with brush that rolls up to transfer big objects.
- Batteries that provide power to motor.
- A dam-board and a box to gather and collect big objects.
- A water pump that is used to absorb big objects.
# Criterion for Success
- The cleaner should be waterproof.
- The cleaner needs to cover every part of the pool in relatively short time.
- The cleaner should be able to suck in debris and other particles
- The cleaner can start and stop by remote control.
- The cleaner can be successfully charged.

# Distribution of Work
- Hanwei Yu: Responsible for the overall modeling of the cleaner, making the mechanical design into a physical robot, and designing proper waterproofing measures.
- Tianle Li: Use ultrasonic underwater sensors to enable the robot to walk underwater along walls, steer etc. The robot moves around the pool’s edge starting from a certain position. Use this to create the pool's contour information L,W.
After establishing the contour of the pool, obtain the robot's position in the pool using an optical encoder.
- Wenbo Ye: Code implementation of efficient path planning, so that the route can adapt to different real-world environments.
Control the propulsion subsystem for proper movement and turning. Use the control subsystem to guide and correct the course of travel based on signals from the sensors
- Jiayu Zhang: Use MPU6050 to get the velocity and the angle of the cleaner. And build a close-loop control system to control the speed and spinning angle. And remote control the cleaner.

S.I.P. (Smart Irrigation Project)

Featured Project

Jackson Lenz

James McMahon

Our project is to be a reliable, robust, and intelligent irrigation controller for use in areas where reliable weather prediction, water supply, and power supply are not found.

Upon completion of the project, our device will be able to determine the moisture level of the soil, the water level in a water tank, and the temperature, humidity, insolation, and barometric pressure of the environment. It will perform some processing on the observed environmental factors to determine if rain can be expected soon, Comparing this knowledge to the dampness of the soil and the amount of water in reserves will either trigger a command to begin irrigation or maintain a command to not irrigate the fields. This device will allow farmers to make much more efficient use of precious water and also avoid dehydrating crops to death.

In developing nations, power is also of concern because it is not as readily available as power here in the United States. For that reason, our device will incorporate several amp-hours of energy storage in the form of rechargeable, maintenance-free, lead acid batteries. These batteries will charge while power is available from the grid and discharge when power is no longer available. This will allow for uninterrupted control of irrigation. When power is available from the grid, our device will be powered by the grid. At other times, the batteries will supply the required power.

The project is titled S.I.P. because it will reduce water wasted and will be very power efficient (by extremely conservative estimates, able to run for 70 hours without input from the grid), thus sipping on both power and water.

We welcome all questions and comments regarding our project in its current form.

Thank you all very much for you time and consideration!