# Title Team Members TA Documents Sponsor
29 Modular LED Wall Panels
Adam Chung
James Prince
Kyle Salzberg
Hanyin Shao design_document3.pdf
## Team Members:
James Prince (jamestp3)
Kyle Salzberg(kylets2)
Adam Chung(hschung3)

## Problem:
In the past few years LED decorations and the IoT marketplace have grown widely in popularity. Many of the currently commercially available products are either very expensive or provide very little customizability to the user. These kinds of LEDs are a perfect smart device, allowing for technology to tie into your living space. However, solutions on the market today are limited in their capabilities. Most LEDs are available only as strips, with the few modular LED panels available, such as nanoleaf (see, unable to display text or images. We would like to push the concept of LED decoration further, with LED panels capable of acting as displays.

## Solution:

We propose designing and implementing modular LED panels that are capable of displaying customizable text or images. The modular design allows for the user to connect together as many panels as needed, in relatively any shape or size, for the desired use.
Our solution could also provide a much more affordable option, with competitors having panels worth up to $60 a piece. With a modular design, users can easily control the array of panels as a single device for an improved user experience.

## Solution Components:
### LED Panels
Panel constructed with a grid of 8 x 8 ws2812b LEDs. We will most likely purchase these LEDs in a strip, then cut and reconfigure them into a grid. Doing this makes wiring easier and leaves less room for errors.

## Inter-panel communication
### In order to use each panel we will need to design a system for sending and receiving data between them. To do this we want to use small microcontrollers in each panel. These microcontrollers would determine the configuration of the panels by checking for signals on each side of the panel. Once the configuration is found, the microcontrollers would then be responsible for propagating the LED serial data to the correct panels. Finally each of these microcontrollers would be responsible for displaying their respective panels. We think that a LPC1110/xx would be best for this since it's cheap and low level. This subsystem would also need its own pcb for the microcontroller and connectors.

### Controller/Hub
In addition to the drivers on each display panel, we also need a central unit that controls the overall image. For this we want to use an ESP32 or related microcontroller with wifi and bluetooth. This controller would either connect to the user client through wifi or bluetooth. Time permitting, we would also like to connect this hub to IoT devices such as Alexa.

## Criterion For Success:
Panels can be attached and used in any way without need for user setup (recognizes panel configuration shape)
Panels are able to display text, images, and light effects that are adapted to current configuration
Able to wirelessly connect and be controlled by external devices (phone/computer)

Dynamic Legged Robot

Joseph Byrnes, Kanyon Edvall, Ahsan Qureshi

Featured Project

We plan to create a dynamic robot with one to two legs stabilized in one or two dimensions in order to demonstrate jumping and forward/backward walking. This project will demonstrate the feasibility of inexpensive walking robots and provide the starting point for a novel quadrupedal robot. We will write a hybrid position-force task space controller for each leg. We will use a modified version of the ODrive open source motor controller to control the torque of the joints. The joints will be driven with high torque off-the-shelf brushless DC motors. We will use high precision magnetic encoders such as the AS5048A to read the angles of each joint. The inverse dynamics calculations and system controller will run on a TI F28335 processor.

We feel that this project appropriately brings together knowledge from our previous coursework as well as our extracurricular, research, and professional experiences. It allows each one of us to apply our strengths to an exciting and novel project. We plan to use the legs, software, and simulation that we develop in this class to create a fully functional quadruped in the future and release our work so that others can build off of our project. This project will be very time intensive but we are very passionate about this project and confident that we are up for the challenge.

While dynamically stable quadrupeds exist— Boston Dynamics’ Spot mini, Unitree’s Laikago, Ghost Robotics’ Vision, etc— all of these robots use custom motors and/or proprietary control algorithms which are not conducive to the increase of legged robotics development. With a well documented affordable quadruped platform we believe more engineers will be motivated and able to contribute to development of legged robotics.

More specifics detailed here:

Project Videos