Project

# Title Team Members TA Documents Sponsor
25 Airport Baggage Robot
 Jiajun Hu
Xuchen Ding
Yixuan Li
Yuhao Wang
 design_document1.pdf
design_document2.pdf
design_document3.pdf
final_paper1.pdf
final_paper2.pdf
proposal1.pdf
proposal2.pdf
 Liangjing Yang
# Team Members
- Jiajun Hu jiajunh5 654970401
- Yixuan Li yixuan19
- Yuhao Wang yuhaow7
- Xucheng Ding xuchend2

# Title
Airport Baggage Robot

# Problem

Carrrying bags in airport is somehow inconvenient, because airport is to large and you need to carry the bag for a long time. We want to free our hands.

# Solution Overview

We plan to build a wheel-legged robot to carry the bags for customers. You can place the bag on this robot and it will automaticlly follow you via computer vision to the boarding gate. The leg control algorithm allows this robot to cross barriers like steps and steep ramps.

# Solution Components
## Subsystem 1
The gyroscope system used to balance the leg wheel robot
## Subsystem 2
5-links solver algorithm to control the position of robot legs to balance the robot.
## Subsystem 3
The visual algorithm is used to identify the following users and the path planning algorithm is used to plan the route and achieve the goal of avoiding obstacles. Since we are solving with the visual solution, so we will simply use a high resolution camera for recognition instead of 12 Vehicle radars. And the other components are mainly software-level.

# Criterion for Success
1. The robot is able to balance itself
2. The robot can adapt to different weights by adjusting its posture
3. At least can identify the person and follow the person. What is more, if the tracking path has obstacles, it can avoid them.

# Distribution of Work
- Jiajun Hu: CAD model
- Yixuan Li: Construction of robot
- Yuhao Wang: Control algorithms
- Xuchen Ding: PCB

Control System and User Interface for Hydraulic Bike

Featured Project

Parker-Hannifin, a fluid power systems company, hosts an annual competition for the design of a chainless bicycle. A MechSE senior design team of mechanical engineers have created a hydraulic circuit with electromechanical valves, but need a control system, user interface, and electrical power for their system. The user would be able to choose between several operating modes (fluid paths), listed at the end.

My solution to this problem is a custom-designed control system and user interface. Based on sensor feedback and user inputs, the system would change operating modes (fluid paths). Additionally, the system could be improved to suggest the best operating mode by implementing a PI or PID controller. The system would not change modes without user interaction due to safety - previous years' bicycles have gone faster than 20mph.

Previous approaches to this problem have usually not included an electrical engineer. As a result, several teams have historically used commercially-available systems such as Parker's IQAN system (link below) or discrete logic due to a lack of technical knowledge (link below). Apart from these two examples, very little public documentation exists on the electrical control systems used by previous competitors, but I believe that designing a control system and user interface from scratch will be a unique and new approach to controlling the hydraulic system.

I am aiming for a 1-person team as there are 6 MechSE counterparts. I emailed Professor Carney on 10/3/14 and he thought the general concept was acceptable.

Operating modes, simplified:

Direct drive (rider's pedaling power goes directly to hydraulic motor)

Coasting (no power input, motor input and output "shorted")

Charge accumulators (store energy in expanding rubber balloons)

Discharge accumulators (use stored energy to supply power to motor)

Regenerative braking (use motor energy to charge accumulators)

Download Competition Specs: https://uofi.box.com/shared/static/gst4s78tcdmfnwpjmf9hkvuzlu8jf771.pdf

Team using IQAN system (top right corner): https://engineering.purdue.edu/ABE/InfoFor/CurrentStudents/SeniorProjects/2012/GeskeLamneckSparenbergEtAl

Team using discrete logic (page 19): http://deepblue.lib.umich.edu/bitstream/handle/2027.42/86206/ME450?sequence=1