Project :: ECE 445 - Senior Design Laboratory

#	Title	Team Members	TA	Documents	Sponsor
37	Rudimentary Spherical Motor System for All-Terrain Vehicles	Heston Blackwell Ibrahim Tayyab Ruizhe Wang Sicheng Jiang Zhaoyu Kang		design_document1.pdf design_document2.pdf final_paper1.pdf final_paper2.pdf presentation1.pdf proposal1.pdf	Lin Qiu
	Problem Traditional motors used in all-terrain vehicles (ATVs) are often bulky, inefficient, and not well-suited for rough terrain applications. There is a need for a compact, energy-efficient propulsion system that enhances mobility without increasing vehicle weight. Solution Overview The project aims to develop a prototype spherical motor system using an electromagnetic field-controlled spherical rotor. The system will integrate: - Electromagnetic Field Generation to control rotor movement. - PCB-Based Controller & Microcontroller to regulate power and ensure efficient operation. - Sensing and Feedback System (Hall sensors, optical encoders, and IMU) to provide real-time tracking of rotor position, speed, and stability. - Power Subsystem with regulated DC power for motor components and safety mechanisms . - Testing and Evaluation System to validate performance metrics such as speed, power efficiency, and stability. Criterion for Success 1. Performance Metrics: The motor must achieve a minimum rotational speed of 500 RPM and function reliably on inclined surfaces up to 15 degrees. 2. Compact & Lightweight Design: The total system weight must be under 5 kg to ensure easy integration into ATVs. 3. Energy Efficiency: The system should operate within a 200W power limit and electromagnets must function with ±5% precision in field strength, switching within 5ms latency. 4. Safety & Reliability: Implement fail-safes, proper insulation, and cooling mechanisms to prevent electrical hazards and overheating.

Featured Project

## Team Members

- [Yuhao Ge], [yuhaoge2],

- [Hao Chen], [haoc8],

- [Junyan Li], [junyanl3],

- [Han Yang], [hany6].

## Project Title

Remote Robot Car Control System with RGBD Camera for 3D Reconstruction

## Problem

We aim to build a user-friendly control system for assisting users to remotely control a robot car equipped with an RGBD camera in complex indoor environments. The car should be able to build the environment based on the point cloud scanned by the camera, and the remote computer will reconstruct the point cloud to gain the map of the environment.

## Solution Overview

Our solution consists of a Robot Car Subsystem, Camera Subsystem, Remote Control Subsystem, and Human-Robot Interaction Interface. The Robot Car Subsystem includes a robot car and a rotating base for the RGBD camera. The Camera Subsystem captures RGBD images of the surrounding environment and performs real-time 3D reconstruction. The Remote Control Subsystem allows users to control the robot car remotely via a joystick. The Human-Robot Interaction Interface provides a third-person perspective view of the reconstructed environment and allows users to interact with the robot car in real-time.

## Solution Components

- Robot Car Subsystem: Includes a robot car and a rotating base for the RGBD camera.

- Camera Subsystem: Captures RGBD images of the surrounding environment and performs real-time 3D reconstruction using image signal processing software.

- Remote Control Subsystem: Allows users to control the robot car remotely via a joystick.

- Human-Robot Interaction Interface: Provides a third-person perspective view of the reconstructed environment and allows users to interact with the robot car in real-time.

## Criterion for Success

- The remote robot car control system can navigate and avoid obstacles in complex indoor environments.

- The Camera Subsystem can perform real-time 3D reconstruction with high accuracy and reliability.

- The Remote Control Subsystem provides a smooth and responsive control experience for the user.

- The Human-Robot Interaction Interface provides an intuitive and user-friendly way for users to interact with the robot car and view the reconstructed environment.

## Distribution of Work

- Han Yang (EE): Camera Subsystem design and implementation

- Hao Chen (ECE): Remote Control Subsystem design and implementation

- Junyan Li (ECE): Human-Robot Interaction Interface design and implementation

- Yuhao GE (ECE): Robot Car Subsystem design and implementation

## Justification of Complexity

We believe that our team has the necessary skills and knowledge to handle the mechanical and electrical complexity of our project.

Specifically, Han Yang has experience in image signal processing and Hao Chen has experience in remote control systems. Junyan Li has experience in human-robot interaction design, and Yuhao Ge has experience in robotics and mechanical design. Additionally, we plan to use readily available off-the-shelf components and design our system in a modular and scalable way to minimize the complexity and facilitate the development process.