Project

# Title Team Members TA Documents Sponsor
40 3D scanning based on computer vision technique
Area Award: Computer Vision
Hansen Chen
Xiaobo Dong
Xingqian Xu
Mustafa Mir design_document0.pdf
final_paper0.pdf
presentation0.ppt
proposal0.pdf
A 3D scanner is a device that analyzes a real-world object to collect data on its shape and appearance. Then the collected data can be used to reconstruct digital three dimensional models. The collected 3D data is very useful for a wide variety of applications, especially for the entertainment industry in the production of movies and video games. There are plenty of technologies for digitally acquiring the shape of a 3D object. Most of the well known 3D scanners are active scanners, which emit some kind of radiation and detect its reflection in order to probe an object. The active scanners are precise but expensive, because most active scanners are laser-base. Our group is trying to make a passive scanner without using any laser, which is affordable for home usage, like in X-Box 360.
Our passive 3D scanner is camera-based. First of all, fix a sample object in the center of circle, and then our camera move around the circle to collect the data of the object. Second, acquire discrete frame from the video by the same difference angular degree. Third, do segmentation on each frame. That is acquiring the information of the sample object from each angle. Forth, put the information from each angle on our 3D matrix. Overall, we can reconstruct our sample object.

Autonomous Sailboat

Riley Baker, Arthur Liang, Lorenzo Rodriguez Perez

Autonomous Sailboat

Featured Project

# Autonomous Sailboat

Team Members:

- Riley Baker (rileymb3)

- Lorenzo Pérez (lr12)

- Arthur Liang (chianl2)

# Problem

WRSC (World Robotic Sailing Championship) is an autonomous sailing competition that aims at stimulating the development of autonomous marine robotics. In order to make autonomous sailing more accessible, some scholars have created a generic educational design. However, these models utilize expensive and scarce autopilot systems such as the Pixhawk Flight controller.

# Solution

The goal of this project is to make an affordable, user- friendly RC sailboat that can be used as a means of learning autonomous sailing on a smaller scale. The Autonomous Sailboat will have dual mode capability, allowing the operator to switch from manual to autonomous mode where the boat will maintain its current compass heading. The boat will transmit its sensor data back to base where the operator can use it to better the autonomous mode capability and keep track of the boat’s position in the water. Amateur sailors will benefit from the “return to base” functionality provided by the autonomous system.

# Solution Components

## On-board

### Sensors

Pixhawk - Connect GPS and compass sensors to microcontroller that allows for a stable state system within the autonomous mode. A shaft decoder that serves as a wind vane sensor that we plan to attach to the head of the mast to detect wind direction and speed. A compass/accelerometer sensor and GPS to detect the position of the boat and direction of travel.

### Actuators

2 servos - one winch servo that controls the orientation of the mainsail and one that controls that orientation of the rudder

### Communication devices

5 channel 2.4 GHz receiver - A receiver that will be used to select autonomous or manual mode and will trigger orders when in manual mode.

5 channel 2.4 GHz transmitter - A transmitter that will have the ability to switch between autonomous and manual mode. It will also transfer servos movements when in manual mode.

### Power

LiPo battery

## Ground control

Microcontroller - A microcontroller that records sensor output and servo settings for radio control and autonomous modes. Software on microcontroller processes the sensor input and determines the optimum rudder and sail winch servo settings needed to maintain a prescribed course for the given wind direction.

# Criterion For Success

1. Implement dual mode capability

2. Boat can maintain a given compass heading after being switched to autonomous mode and incorporates a “return to base” feature that returns the sailboat back to its starting position

3. Boat can record and transmit servo, sensor, and position data back to base

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