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22 Smart Drone Delivery Improvement
Rahul Joshi
Raymond Hoagland
Sachin Weerasooriya
Luke Wendt appendix0.docx
When you order a package that is shipped via ground, it is either left at your door or you must be present to sign off on the package. Services like Amazon PrimeAir look to speed up delivery time with drone shipping, which claims to be able to come to your door in 30 minutes. If you look at Video 2 in this link, you will see that the shipment is loaded and the drone takes off, converts to a plane, flies to the vicinity of the landing local, converts back to a drone, and lands on a marker put out by the recipient. This drone then deposits the package and returns to the factory for its next package. Here lies a major flaw; in the event that something valuable is being shipped, it would be desirable for their to be a confirmation that someone is available to pickup the package that is being delivered.

This is where we step in. The problem we want to address is we will assume that the drone is in the area of the delivery spot. We will use image processing to ID the user specified landing spot. The key difference will be: instead of landing, the drone will notify the owner that the package is ready for pickup and hover above the landing spot for a fixed amount of time. The drone will then wait for a confirmation from the user that it is safe to drop off the package. If this message isn't received after a set amount of time, the drone will return to the warehouse with the package and will try to return the package later. While the drone waits, it will constantly scan the surroundings to see if any unidentified threats are approaching the drone. If it detects a threat is too close, the drone will take off and hover at a higher elevation to protect the package contents. It will stay there until either the recipient gives the okay for delivery or until the time limit is up and the drone will return to the factory.

Hardware needed:
- A drone
- A small camera
- Digital Signal Processor (DSP) Chip
- Proportional-Integral-Derivative (PID) Controller
- Raspberry Pi
- USB wifi dongle
- Smart phone

We will use image processing to ID our landing spot and the PID controller to send the necessary feedback to the motors in order to descend the drone and lookout for potential hazards. For our prototype, will then use the raspberry pi and dongle to connect to the resident's WiFi and send a message to a smartphone app indicating the package has arrived. The drone will then wait for confirmation from the app. The mechanical mechanism to physically lower the package will be out of our scope. Rather we will have an LED or some way to indicate that the package has been dropped.

VoxBox Robo-Drummer

Craig Bost, Nicholas Dulin, Drake Proffitt

VoxBox Robo-Drummer

Featured Project

Our group proposes to create robot drummer which would respond to human voice "beatboxing" input, via conventional dynamic microphone, and translate the input into the corresponding drum hit performance. For example, if the human user issues a bass-kick voice sound, the robot will recognize it and strike the bass drum; and likewise for the hi-hat/snare and clap. Our design will minimally cover 3 different drum hit types (bass hit, snare hit, clap hit), and respond with minimal latency.

This would involve amplifying the analog signal (as dynamic mics drive fairly low gain signals), which would be sampled by a dsPIC33F DSP/MCU (or comparable chipset), and processed for trigger event recognition. This entails applying Short-Time Fourier Transform analysis to provide spectral content data to our event detection algorithm (i.e. recognizing the "control" signal from the human user). The MCU functionality of the dsPIC33F would be used for relaying the trigger commands to the actuator circuits controlling the robot.

The robot in question would be small; about the size of ventriloquist dummy. The "drum set" would be scaled accordingly (think pots and pans, like a child would play with). Actuators would likely be based on solenoids, as opposed to motors.

Beyond these minimal capabilities, we would add analog prefiltering of the input audio signal, and amplification of the drum hits, as bonus features if the development and implementation process goes better than expected.

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