# Title Team Members TA Documents Sponsor
14 Propeller-less Multi-rotor
Bree Peng
Ignacio Aguirre Panadero
Leo Yamamae
Luke Wendt appendix0.pdf
The idea is to have 4 of these centrifugal fans in each corner replacing the motor+propeller on a typical drone for greater durability and more options. You may ask, "Is this the same as just swapping out methods of propulsion?" The answer is no. In a typical drone, the half of the motors spin clockwise and the other counter-clockwise. This is because of the angular momentum of the motors. A good example is a helicopter. It has its huge propellers and it has a tail-rotor.

The problem that arises from changing to this method of propulsion is that the drone cannot yaw (turn left or right). The traditional drone increases the RPM on two motors spinning the same direction located diagonally from each other and decreases the RPM of the other two. This will result in keeping altitude and turning left or right by angular momentum. The issue with the centrifugal fan propelled drone is that in order to yaw, the direction of the fan must be changed. Therefore, we will need to use an actuator to change the direction.

The ultimate goal is to build a drone that uses a centrifugal fan as a method of propulsion and map the controls such that an experienced multi-rotor flyer will be able to pick up the controller and fly it. So it will be an remote-controlled drone that will be using a typical RC transmitter and receiver or a XBEE talking to a xbox/PlayStation controller.

Therefore, my project will include:
Design of the Flight Control Board
Design of the Chassis,
Design of the Centrifugal Fans,
Actuation design,
Finding parts (ESC if we buy it, Battery, sensors, etc.)

Amphibious Spherical Explorer

Kaiwen Chen, Junhao Su, Zhong Tan

Amphibious Spherical Explorer

Featured Project

The amphibious spherical explorer (ASE) is a spherical robot for home monitoring, outdoor adventure or hazardous environment surveillance. Due to the unique shape of the robot, ASE can travel across land, dessert, swamp or even water by itself, or be casted by other devices (e.g. slingshot) to the mission area. ASE has a motion-sensing system based on Inertial Measurement Unit (IMU) and rotary magnetic encoder, which allows the internal controller to adjust its speed and attitude properly. The well-designed control system makes the robot free of visible wobbliness when it is taking actions like acceleration, deceleration, turning and rest. ASE is also a platform for research on control system design. The parameters of the internal controller can be assigned by an external control panel in computer based on MATLAB Graphic User Interface (GUI) which communicates with the robot via a WiFi network generated by the robot. The response of the robot can be recorded and sent back to the control panel for further analysis. This project is completely open-sourced. People who are interested in the robot can continue this project for more interesting features, such as adding camera for real-time surveillance, or controller design based on machine learning.

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