# Title Team Members TA Documents Sponsor
25 Airport Baggage Robot
Jiajun Hu
Xuchen Ding
Yixuan Li
Yuhao Wang
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

Electronic Automatic Transmission for Bicycle

Featured Project

Tianqi Liu(tliu51)

Ruijie Qi(rqi2)

Xingkai Zhou(xzhou40)

Sometimes bikers might not which gear is the optimal one to select. Bicycle changes gears by pulling or releasing a steel cable mechanically. We could potentially automate gear changing by hooking up a servo motor to the gear cable. We could calculate the optimal gear under current condition by using several sensors: two hall effect sensors, one sensing cadence from the paddle and the other one sensing the overall speed from the wheel, we could also use pressure sensors on the paddle to determine how hard the biker is paddling. With these sensors, it would be sufficient enough for use detect different terrains since the biker tend to go slower and pedal slower for uphill or go faster and pedal faster for downhill. With all these information from the sensors, we could definitely find out the optimal gear electronically. We plan to take care of the shifting of rear derailleur, if we have more time we may consider modifying the front as well.

Besides shifting automatically, we plan to add a manual mode to our project as well. With manual mode activated, the rider could override the automatic system and select the gear on its own.

We found out another group did electronic bicycle shifting in Spring 2016, but they didn't have a automatic function and didn't have the sensor set-up like ours. Commercially, both SRAM and SHIMANO have electronic shifting products, but these products integrate the servo motor inside the derailleurs, and they have a price tag over $1000. Only professionals or rich enthusiasts can have a hand on them. As our system could potentially serve as an add-on device to all bicycles with gears, it would be much cheaper.