Project

# Title Team Members TA Documents Sponsor
9 H.E.R.O. - HAZARDOUS ENVIRONMENT REMOTE OPERATOR
 Jun Liang
Qihan Shan
Sizhao Ma
Xihe Shao
 design_document1.pdf
design_document2.pdf
proposal1.pdf
proposal2.pdf
# H.E.R.O. - HAZARDOUS ENVIRONMENT REMOTE OPERATOR

## PROBLEM

Human workers in hazardous environments, such as handling toxic materials, high-voltage equipment, or explosives, face significant risks to their safety. Current solutions, such as glove-based sensor systems or pre-programmed robots, lack flexibility, comfort, and adaptability. These methods often require physical wearables and high costs, restricting their practical application in dangerous scenarios.

## SOLUTION

A vision-based robotic hand system that mimics human gestures in real-time using non-invasive camera tracking and 3D-printed components. Key innovations include:

- Camera-driven gesture recognition eliminating wearable sensors.
- Real-time mimicry with closed-loop feedback for accuracy.
- Low-cost 3D-printed design making robotic manipulation accessible for hazardous environments.

## SOLUTION COMPONENTS

### SUBSYSTEM 1: VISION & GESTURE RECOGNITION

- **Camera module (webcam):** Capture hand movements.
- **Computer vision algorithms (OpenCV or MediaPipe):** Detect and track hand landmarks.
- **Communication API:** Translate gestures into spatial coordinates for robotic replication that can be recognized by control system.

### SUBSYSTEM 2: MOTION CONTROL & ACTUATION

- **Inverse kinematics:** Map hand coordinates to servo angles.
- **Micro controller:** Compute the control signal and drives servo motors.
- **3D-printed robotic hand:** Replicate gestures with five degrees of freedom.
- **ARX robotic arm:** Provide a movable platform for our hands.

### SUBSYSTEM 3: SAFETY & RELIABILITY

- **Fail-safe mechanisms (e.g., emergency stop, error thresholds):** Prevent unintended motions.
- **Closed-loop feedback:** Ensure real-time corrections and stability.
- **Modular design:** Allow quick repairs in hazardous conditions.

## CRITERION FOR SUCCESS

- **Real-time responsiveness:** Latency 90% (Over 90% pose can be correctly performed).
- **Cost:** Total system cost under $200 (vs. commercial robotic hands costing $1,000+).

Fountain show

Dingyi Feng, Tianli Ling, Zhelun Lu, Shibo Zhang

Featured Project

## Team

- Dingyi Feng(dingyif2)

- Tianli Ling(tling3)

- Zhelun Lu(zhelunl2)

- Shibo Zhang(shiboz2)

## Problem:

A fountain show on campus can make students feel more relaxed after class. However, some fountain shows only have monotonous, stiff, and single actions. Besides, they cannot automatically generate action and light effects. Compared with large fountain shows, small and medium-sized fountain shows have the advantage of time and space. In most cases, a large fountain show only has preloaded music which cannot be decided by audiences. Large fountain shows also require people to design the action and light effects for each music, which takes lots of time and effort. Compared with the large fountain show, our small fountain show will be more energy-efficient and environmentally friendly. During the COVID-19 pandemic, large fountain shows might result in large crowds gathering, but a small fountain show can reduce the risk of infection.

## Solution Overview:

Our fountain show would be built at a pool on the sourthwest of the main lake on campus. By manually programing, the fountain show could realize changing lighting effects and movements. Besides, our fountain show could also identify the music which was imported into our system, and automatically generate the lighting effects and movements with the music. If time permits, we will strengthen the human-computer interaction of our product. To be specific, people could scan the QR code or use our online system to choose the music they want, so that they can enjoy the fountain show at any time.

## Solution Components:

### Control Subsystem:

- Music colleccting and analyzing subsystem: Computer that can import music signals and analyze them.

- Converting subsystem: After music signal is analyzed, we need computer to convert useful signals into digital signals. Digital signals will be used to control LEDs and other mechanical subsystems.

### Mechanical Subsystem:

- Pump Subsystem: Water pump that can pump water from the lake. Valves will be used to control water’s flow rate of each nozzle.

- Lighting Subsystem: LEDs are needed to light our fountains. They are controlled by microprocessor on PCB. Their brightness and color can be changed with music.

- Motor Subsystem: Two motors are needed for each fountain nozzle to control the movements. The motors are controlled by microprocessor on PCB.

### Power subsystem:

- The pump is drived by DC power (12V 20~30A). PCB and computer will be drived by USB (5V 1A). Full module power supply with 12V and 5V output is needed.

## Criterion for Success:

- If it can successfully identify a piece of music and convert it to electrical signals that we need in controlling LED’s lighting and nozzle’s moving.

- If the whole system can work stably for a long time and whether it is safe to use without electric leakage or other problems.

- If music playing, fountain movements and LED lights are synchronized.

- If the fountain system is neat and whether the fountain performance is ornamental enough.