# 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.)

Low Cost Myoelectric Prosthetic Hand

Michael Fatina, Jonathan Pan-Doh, Edward Wu

Low Cost Myoelectric Prosthetic Hand

Featured Project

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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