Project

# Title Team Members TA Documents Sponsor
18 Wireless Fast Charging Autonomous Car
Yiquan Jin
Yizhi Li
Ziyue Guo
Zongyang Zhu
 design_document1.pdf
final_paper3.pdf
proposal1.pdf
 Chushan Li
# Problem

An autonomous car with wireless fast charging capability (Pin≥100W) is proposed. The car can automatically detect the place of wireless charging station and drive to the station with fast speed.

# Solution Overview

- An autonomous car with energy storage and fast speed

- The wireless charging power Pin ≥ 100W

- Car can automatically align to the charging coils

- Car can detect the place of wireless charging station.

- Obstacles can be avoided during the driving

- Car can fully utilize its mechanical structure and shock absorption system to work on various road condition

# Solution Components

## Hardware Components:

- Autonomous Driving Car Prototype: Developed a prototype of an autonomous driving car capable of autonomous navigation and driving functions, including sensors, control units, actuators, and designed the car's exterior and shock absorption structure.

- Wireless Charging System: Designed and implemented a wireless charging system capable of delivering over 100W of power, including hardware devices for the charger and car receiver end.

- Positioning and Navigation Equipment: Integrated high-precision positioning and navigation equipment to enable the car to navigate and plan routes in complex environments.

## Software Components:

- Autonomous Driving Software: Developed a comprehensive autonomous driving software system, including environment perception, path planning, control algorithms, etc., capable of achieving safe and stable autonomous driving functions.

- Charging Alignment Algorithm: Implemented precise charging alignment algorithms, capable of accurately identifying the position of charging stations and automatically aligning the car with the charging coils, ensuring charging efficiency and safety.

- Obstacle Detection and Avoidance Algorithms: Developed efficient obstacle detection and avoidance algorithms, capable of timely identifying obstacles on the road and taking appropriate measures to avoid collisions.

- Charging Station Position Detection Software: Implemented charging station position detection software, capable of accurately identifying the position of charging stations and planning the optimal route to reach the charging station.

# Criterion for Success

Our ultimate goal is to develop an autonomous vehicle with energy storage and high-speed capabilities, equipped with wireless fast charging (Pin ≥ 100W). It should automatically align with charging coils, detect the location of wireless charging stations, navigate around obstacles during driving, and fully utilize its mechanical structure and shock absorption system to adapt to various road conditions.

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.