# Title Team Members TA Documents Sponsor
30 Amphibious Spherical Explorer
Area Award: Controls
Junhao Su
Kaiwen Chen
Zhong Tan
Luke Wendt design_document0.pdf
The amphibious spherical explorer (ASE) our team is building is mainly for outdoor adventure. The ASE will have no difficulty traveling in water, swamp, dessert, and land due to its spherical shape and pendulum driven principle. Comparing to most robots, ASE will be more versatile since it could travel under most circumstances. As for the other spherical robots, ASE is more adaptable because of its flexible yet enduring shell and at the same time we are aiming to design a better control system to solve the balance issue.

The ASE will be implemented using dual-actuator design consisting of one DC motor and one Servo motor, magnetic encoder, gyroscope, micro-controller, WIFI chip and etc. Specifically, we have decided to build this to be a general-purpose robotic platform as we are planning to leave an I2C bus to interface corresponding interchangeable modules designed for diverse tasks and various usages. The control signal will be sent from PC to the explorer, and the data collected by the task module are transmitted back to the users for debugging. The entire communication process will be accomplished through WIFI.

Our team members have had fair amount of experience in Embedded programming & Control system design, Mechanical CAD, and PCB design which will be efficient through the project building process.

Team members:
Kaiwen Chen (kchen70)
Zhong Tan (zmtan2)
Junhao Su (jsu10)

Control System and User Interface for Hydraulic Bike

Iain Brearton

Featured Project

Parker-Hannifin, a fluid power systems company, hosts an annual competition for the design of a chainless bicycle. A MechSE senior design team of mechanical engineers have created a hydraulic circuit with electromechanical valves, but need a control system, user interface, and electrical power for their system. The user would be able to choose between several operating modes (fluid paths), listed at the end.

My solution to this problem is a custom-designed control system and user interface. Based on sensor feedback and user inputs, the system would change operating modes (fluid paths). Additionally, the system could be improved to suggest the best operating mode by implementing a PI or PID controller. The system would not change modes without user interaction due to safety - previous years' bicycles have gone faster than 20mph.

Previous approaches to this problem have usually not included an electrical engineer. As a result, several teams have historically used commercially-available systems such as Parker's IQAN system (link below) or discrete logic due to a lack of technical knowledge (link below). Apart from these two examples, very little public documentation exists on the electrical control systems used by previous competitors, but I believe that designing a control system and user interface from scratch will be a unique and new approach to controlling the hydraulic system.

I am aiming for a 1-person team as there are 6 MechSE counterparts. I emailed Professor Carney on 10/3/14 and he thought the general concept was acceptable.

Operating modes, simplified:

Direct drive (rider's pedaling power goes directly to hydraulic motor)

Coasting (no power input, motor input and output "shorted")

Charge accumulators (store energy in expanding rubber balloons)

Discharge accumulators (use stored energy to supply power to motor)

Regenerative braking (use motor energy to charge accumulators)

Download Competition Specs:

Team using IQAN system (top right corner):

Team using discrete logic (page 19):