Project

# Title Team Members TA Documents Sponsor
50 Electronic Mouse (Cat Toy)
Honorable Mention
Chuangy Zhang
Jack Casey
Yingyu Zhang
Jamie Xu design_document1.pdf
final_paper1.pdf
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photo3.png
photo1.jpeg
presentation1.pdf
proposal1.pdf
video
# Electronic Mouse (Cat Toy)

# Team Members:
- Yingyu Zhang (yzhan290)
- Chuangy Zhang (czhan30)
- Jack (John) Casey (jpcasey2)

# Problem Components:
Keeping up with the high energy drive of some cats can often be overwhelming for owners who often choose these pets because of their low maintenance compared to other animals. There is an increasing number of cats being used for service and emotional support animals, and with this, there is a need for an interactive cat toy with greater accessibility.
1. Get cats the enrichment they need
1. Get cats to chase the “mouse” around
1. Get cats fascinated by the “mouse”
1. Keep cats busy
1. Fulfill the need for cats’ hunting behaviors
1. Interactive fun between the cat and cat owner
1. Solve the shortcomings of electronic-remote-control-mouses that are out in the market

## Comparison with existing products
- Hexbug Mouse Robotic Cat Toy: Battery endurance is very low; For hard floors only
- GiGwi Interactive Cat Toy Mouse: Does not work on the carpet; Not sensitive to cat touch; Battery endurance is very low; Can't control remotely



# Solution
A remote-controlled cat toy is a solution that allows more cat owners to get interactive playtime with their pets. With our design, there will be no need to get low to the ground to adjust it often as it will go over most floor surfaces and in any direction with help from a strong motor and servos that won’t break from wall or cat impact. To prevent damage to household objects it will have IR sensors and accelerometers for use in self-driving modes. The toy will be run and powered by a Bluetooth microcontroller and a strong rechargeable battery to ensure playtime for hours.
## Subsystem 1 - Infrared(IR) Sensors & Accelerometer sensor
- IR sensors work with radar technology and they both emit and receive Infrared radiation. This kind of sensor has been used widely to detect nearby objects. We will use the IR sensors to detect if the mouse is surrounded by any obstacles.
- An accelerometer sensor measures the acceleration of any object in its rest frame. This kind of sensor has been used widely to capture the intensity of physical activities. We will use this sensor to detect if cats are playing with the mouse.


## Subsystem 2 - Microcontroller(ESP32)
- ESP32 is a dual-core microcontroller with integrated Wi-Fi and Bluetooth. This MCU has 520 KB of SRAM, 34 programmable GPIOs, 802.11 Wi-Fi, Bluetooth v4.2, and much more. This powerful microcontroller enables us to develop more powerful software and hardware and provides a lot of flexibility compared to ATMegaxxx.

Components(TBD):
- Product: [https://www.digikey.com/en/products/detail/espressif-systems/ESP32-WROOM-32/8544298](url)
- Datasheet: [http://esp32.net](url)

## Subsystem 3 - App
- We will develop an App that can remotely control the mouse.
1. Control the mouse to either move forward, backward, left, or right.
1. Turn on / off / flashing the LED eyes of the mouse
1. keep the cat owner informed about the battery level of the mouse
1. Change “modes”: (a). keep running randomly without stopping; (b). the cat activates the mouse; (c). runs in cycles(runs, stops, runs, stops…) intermittently (mouse hesitates to get cat’s curiosity up); (d). Turn OFF (completely)

## Subsystem 4 - Motors and Servo
- To enable maneuverability in all directions, we are planning to use 1 servo and 2 motors to drive the robotic mouse. The servo is used to control the direction of the mouse. Wheels will be directly mounted onto motors via hubs.

Components(TBD):
- Metal Gear Motors: [https://www.adafruit.com/product/3802](url)

- L9110H H-Bridge Motor Driver: [https://www.adafruit.com/product/4489](url)

## Subsystem 5 - Power Management
- We are planning to use a high capacity (5 Ah - 10 Ah), 3.7 volts lithium polymer battery to enable the long-last usage of the robotic mouse. Also, we are using the USB lithium polymer ion charging circuit to charge the battery.

Components(TBD):
- Lithium Polymer Ion Battery: [https://www.adafruit.com/product/5035](url)
- USB Lithium Polymer Ion Charger: [https://www.adafruit.com/product/259](url)


# Criterion for Success
1. Can go on tile, wood, AND carpet and alternate
1. Has a charge that lasts more than 10 min
1. Is maneuverable in all directions(not just forward and backward)
1. Can be controlled via remote (App)
1. Has a “cat-attractor”(feathers, string, ribbon, inner catnip, etc.) either attached to it or drags it behind (attractive appearance for cats)
1. Retains signal for at least 15 ft away
1. Eyes flash
1. Goes dormant when caught/touched by the cats (or when it bumps into something), reactivates (and changes direction) after a certain amount of time
1. all the “modes” worked as intended





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Michael Fatina, Jonathan Pan-Doh, Edward Wu

Low Cost Myoelectric Prosthetic Hand

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According to the WHO, 80% of amputees are in developing nations, and less than 3% of that 80% have access to rehabilitative care. In a study by Heidi Witteveen, “the lack of sensory feedback was indicated as one of the major factors of prosthesis abandonment.” A low cost myoelectric prosthetic hand interfaced with a sensory substitution system returns functionality, increases the availability to amputees, and provides users with sensory feedback.

We will work with Aadeel Akhtar to develop a new iteration of his open source, low cost, myoelectric prosthetic hand. The current revision uses eight EMG channels, with sensors placed on the residual limb. A microcontroller communicates with an ADC, runs a classifier to determine the user’s type of grip, and controls motors in the hand achieving desired grips at predetermined velocities.

As requested by Aadeel, the socket and hand will operate independently using separate microcontrollers and interface with each other, providing modularity and customizability. The microcontroller in the socket will interface with the ADC and run the grip classifier, which will be expanded so finger velocities correspond to the amplitude of the user’s muscle activity. The hand microcontroller controls the motors and receives grip and velocity commands. Contact reflexes will be added via pressure sensors in fingertips, adjusting grip strength and velocity. The hand microcontroller will interface with existing sensory substitution systems using the pressure sensors. A PCB with a custom motor controller will fit inside the palm of the hand, and interface with the hand microcontroller.

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