Project

# Title Team Members TA Documents Sponsor
43 Real-Time Sound Visualization
 Lin Le
Qian Chen
Xinyue Yu
 Dongwei Shi design_document0.pdf
design_document0.pdf
final_paper0.pdf
other0.pdf
other0.pdf
other0.pdf
presentation0.pdf
video0.mov
We plan to design a sound visualization model by using a pitch detector to detect pitch and output with musical notation on the screen. Furthermore, we are going to store the melody and mimic piano sound on chips.

1. Detect Pitch.

We plan to make a pitch detector in hardware to detect sound in real time at a 10k sampling rate, and a LED light to indicate when it is ON or OFF. An autocorrelation analysis, center clipping, infinite peak clipping will be used to build up the detector.

2. Output music notation in real time.

Once a note has been detected, it will show on the screen at the right position. The previous notes on the music notation will move right. It will look like flowing music. The screen will be connected on a black board with detector in which we could display the sound in real time.

3. Store the melody.

We are going to store the melody in pitch into registers for future replay.

4. Mimic instruments sound.

we will use instrument sounds package, like guitar, piano, and violin to replay the melody on arduino. The mimic will not be in real time and only for replay mode.

Dynamic Legged Robot

Joseph Byrnes, Kanyon Edvall, Ahsan Qureshi

Featured Project

We plan to create a dynamic robot with one to two legs stabilized in one or two dimensions in order to demonstrate jumping and forward/backward walking. This project will demonstrate the feasibility of inexpensive walking robots and provide the starting point for a novel quadrupedal robot. We will write a hybrid position-force task space controller for each leg. We will use a modified version of the ODrive open source motor controller to control the torque of the joints. The joints will be driven with high torque off-the-shelf brushless DC motors. We will use high precision magnetic encoders such as the AS5048A to read the angles of each joint. The inverse dynamics calculations and system controller will run on a TI F28335 processor.

We feel that this project appropriately brings together knowledge from our previous coursework as well as our extracurricular, research, and professional experiences. It allows each one of us to apply our strengths to an exciting and novel project. We plan to use the legs, software, and simulation that we develop in this class to create a fully functional quadruped in the future and release our work so that others can build off of our project. This project will be very time intensive but we are very passionate about this project and confident that we are up for the challenge.

While dynamically stable quadrupeds exist— Boston Dynamics’ Spot mini, Unitree’s Laikago, Ghost Robotics’ Vision, etc— all of these robots use custom motors and/or proprietary control algorithms which are not conducive to the increase of legged robotics development. With a well documented affordable quadruped platform we believe more engineers will be motivated and able to contribute to development of legged robotics.

More specifics detailed here:

https://courses.engr.illinois.edu/ece445/pace/view-topic.asp?id=30338

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