Project

# Title Team Members TA Documents Sponsor
31 Movable Robotic Arm Platform
 Chenxi Wang
Shihua Zeng
Zhizhan Li
Zhuohao Xu
 appendix1.docx
design_document5.pdf
design_document6.pdf
design_document1.pdf
design_document2.pdf
design_document3.docx
photo1.png
proposal1.pdf
proposal3.pdf
proposal2.pdf
 Jiahuan Cui
# Problem

There will be dangerous waste that generate daily in laboratory or factory. Moving the waste manually can be risky because operator will contact these materials which may be toxic, explosive, radiative, etc. Hence, disposal unit need a better way to remotely take, and transport boxed waste within narrow circumstances like aisle. Meanwhile, they can also remotely place the waste into the disposal device in a specific orientation.

# Solution Overview

Our solution for remote taking, moving, and placing hazardous waste is to build a movable robotic arm platform with somatosensory controller.
- The platform with four non-offset caster wheels can move omnidirectionally without changing chassis orientation, making robot be able to move in narrow space smoothly without making much turn.
- There will be a 6-freedom robotic arm with a suction cup end actuator on platform. The arm can easily get and place the object at any orientation we want.
- The platform has a camera to give real-time video feedback. Operator can refer to the feedback and adjust robotic arm’s movement by moving its hand with somatosensory controller.

# Solution Components

## Omidirectional Chassis
- 4 non offset caster wheels with motor controlling steering
- A camera to give video feed back

## Robotic Arm
- A SCARA type structure providing 3 axes translation freedom
- A RRR structure at the end providing 3 axes rotation freedom
- A suction cup end actuator to suck and drop object

## Controller
- A Jetson Orin Nano miniPC to run the code within ROS
- A specially designed controller with 3 IMU to detect the position change of user’s hand, then mapping the movement to robotic arm.

# Criterion for Success
- The platform can operate smooth omnidirectional translation and rotation.
- The robotic arm can fetch a 200*200*200mm, 600g-700g EVA cubic (we assume it as dangerous material in laboratory) from a 218*218mm square section tunnel precisely.
- The robotic arm can transport the cubic and then placing it into a 240*240*240 mm box whose orientation will varying in 6 axes.
- The operator can easily control the robotic arm remotely with its hand moving and placing the cubic within 40s.

3D Scanner

Peiyuan Liu, Jiayi Luo, Yifei Song, Chenchen Yu

Featured Project

# Team Members

Yifei Song (yifeis7)

Peiyuan Liu (peiyuan6)

Jiayi Luo (jiayi13)

Chenchen Yu (cy32)

# 3D Scanner

# Problem

Our problem is how to design an algorithm that uses a mobile phone to take multiple angle photos and generate 3D models from multiple 2D images taken at various positions. At the same time, we will design a mechanical rotating device that allows the mobile phone to rotate 360 degrees and move up and down on the bracket.

# Solution Overview

Our solution for reconstructing a 3D topology of an object is to build a mechanical rotating device and develop an image processing algorithm. The mechanical rotating device contains a reliable holder that can steadily hold a phone of a regular size, and an electrical motor, which is fixed in the center of the whole system and can rotate the holder 360 degrees at a constant angular velocity.

# Solution Components

## Image processing algorithms

- This algorithm should be capable of performing feature detection which is essential for image processing. It should be able to accurately identify and extract relevant features of an object from multiple 2D images, including edges, corners, and key points.

- This algorithm should be designed to minimize the memory requirement and energy consumption, because mobile phones have limited memory and battery.

## Mechanical rotating system

Phone holder that can adjust its size and orientation to hold a phone steadily

Base of the holder with wheels that allows the holder to move smoothly on a surface

Electrical motor for rotating the holder at a constant angular velocity

Central platform to place the object

The remote-control device can be used to control the position of the central platform. Different types of motors and mechanisms can be used for up and down, such as the stepper motors, servo motors, DC motors, and AC motors.

# Criterion for Success

- Accuracy: The app should be able to produce a 3D model that is as accurate as possible to the real object, with minimal distortion, errors or noise.

- Speed: The app should be able to capture and process the 3D data quickly, without requiring too much time or processing power from the user's device.

- Output quality: The app should be able to produce high-quality 3D models that can be easily exported and used in other software applications or workflows.

- Compatibility: Any regular phone can be placed and fixed on the phone holder with a certain angle and does not come loose

- Flexibility: The holder with a phone must be able to rotate 360 degrees smoothly without violent tremble at a constant angular velocity

# Distribution of Work

Yifei Song

Design a mobile app and deploy a modeling algorithm to it that enables image acquisition and 3D modeling output on mobile devices.

Peiyuan Liu:

Design an algorithm for modeling 3D models from multiple view 2D images.

Jiayi Luo:

Design the remote-control device. Using the electrical motors to control the central platform of the mechanical rotating system.

Chenchen Yu:

Design the mechanical part. Build, test and improve the mechanical rotating system to make sure the whole device works together.