Projects


# Title Team Members TA Professor Documents Sponsor
1
CHARM: CHeap Accessible Resilient Mesh for Remote Locations and Disaster Relief
Martin Michalski
Melissa Pai
Trevor Wong
Jeff Chang Viktor Gruev design_document1.pdf
proposal1.pdf
video1.mp4
2
HARDWARE ACCELERATED PANORAMA IMAGE STITCHING CAMERA ON EMBEDDED LINUX
Cole Herrmann
Gautam Pakala
Jake Xiong
Qingyu Li Kejie Fang design_document1.pdf
other1.pdf
3
Robotic Manipulator with User Force-Feedback
Noah Franceschini
Sohan Patel
Jason Paximadas Viktor Gruev design_document1.pdf
proposal1.pdf
4
Bluetooth Enabled eWalker
Darren Domingo
Gregory Tow
Lukas Adomaviciute
Akshatkumar Sanatbhai Sanghvi Arne Fliflet design_document1.pdf
photo1.png
presentation1.pdf
proposal1.pdf
video1.mov
video2.mp4
5
Efficient Light Control system for Plant Growth
Christelle Seri
Heonjang Lee
Sungjoo Chung
Zhicong Fan Kejie Fang design_document1.pdf
proposal1.pdf
6
Bruxism Treatment
Edric Lin
Justin Song
Mingjia Huo Arne Fliflet design_document1.pdf
presentation1.pdf
proposal1.pdf
7
Microcontroller-based Occupancy Monitoring (MOM)
Franklin Moy
John Li
Vish Gopal Sekar
Hanyin Shao Arne Fliflet design_document1.pdf
presentation1.pdf
proposal1.pdf
video
8
Hearing Damage Detector and Alarm System
Alex Yuan
Jake Fava
Jinzhi Shen
Hojoon Ryu Arne Fliflet design_document7.pdf
final_paper2.docx
presentation1.pptx
proposal1.pdf
video
9
SELF SOLVING/SCRAMBLING RUBIK’S CUBE FOR LEARNING AND TRAINING
Byron Lathi
Colin Choi
Walter Uruchima
Qingyu Li Kejie Fang design_document1.pdf
presentation1.pdf
proposal2.pdf
10
Remotely Adjustable Cast
Alice Getmanchuk
Jack Burns
Saloni Garg
Stasiu Chyczewski Viktor Gruev design_document2.pdf
presentation1.pdf
proposal1.pdf
video
11
Electronic Drawer Organization System
Michael Grawe
Michael Stoens
Nathan Marchosky
Stasiu Chyczewski Viktor Gruev design_document1.pdf
proposal1.pdf
12
Cycling Assist System with Rear Camera Detection
Jacob Betz
Jingdi Liu
Trisha Yadav
Jeff Chang Kejie Fang other1.pdf
presentation1.pdf
proposal1.pdf
video1.mp4
13
Smart Health System for Plants
Rohan Prasad
Tilak Patel
Yash Parikh
Hojoon Ryu Arne Fliflet design_document1.pdf
design_document2.pdf
presentation1.pdf
proposal1.pdf
video
14
Hardware Accelerated High-Frequency trading system
Anthony Yu
Kevin Lim
Richard Deng
Mingjia Huo Kejie Fang design_document2.pdf
design_document3.pdf
proposal1.pdf
15
Emotionally Intelligent Mirror
Aishwarya Rajesh
Apurva Chanda
Tala Aoun
Akshatkumar Sanatbhai Sanghvi Arne Fliflet design_document1.pdf
proposal1.pdf
video1.mp4
16
Poker Chip Counting Companion
Adish Patil
David Hahn
Forrest Hare
Qingyu Li Kejie Fang design_document1.pdf
final_paper1.pdf
other1.pdf
video1.MOV
video
17
Multi-Party, Multi-Factor Authentication Lock
Akshay Sundaram
Noah Hill
Shelby Doty
Zhicong Fan Arne Fliflet design_document1.pdf
proposal1.pdf
18
Refill Dispensary
Jackson Wiessing
Lyla Zegelstein
Michael Blyakhman
Jason Paximadas Arne Fliflet design_document2.pdf
presentation1.pptx
proposal1.pdf
19
Distributed Bike Locking System
Cameron Obrecht
Praneeth Mekapati
Rohan Sreerama
Hanyin Shao Kejie Fang design_document1.pdf
design_document2.pdf
presentation1.pdf
proposal1.pdf
video
20
ZZZ-Mate : Pulse Driven White Noise Generator
Haruya Kamitani
Sanjana Chunduri
Vakaris Ragauskas
Jeff Chang Kejie Fang design_document1.pdf
design_document2.pdf
final_paper1.pdf
presentation1.pdf
proposal1.pdf
video
21
Automatic Pet Sitter
Abhi Chebiyam
Joseph Choi
Tyler Huang
Hojoon Ryu Viktor Gruev design_document1.pdf
proposal1.pdf
video1.mov
22
ARC Machine Monitor
Akhil Kodumuri
Calvin Lee
Rohan Inampudi
Zhicong Fan Viktor Gruev design_document1.pdf
final_paper1.pdf
proposal1.pdf
23
VR Force Feedback Gloves Restricting Side to Side Finger Movement
Yoonseo Choi
Aaron Gros
Sunghoon Kim
Jason Paximadas Viktor Gruev design_document1.pdf
proposal1.pdf
24
Grounded Rope Management System for Belaying
Abhyan Jaikishen
Chris Zhang
Daniel Hsu
Jason Paximadas Arne Fliflet design_document1.pdf
proposal1.pdf
video
25
EarlyBird Alarm Clock
Sasin Gudipati
Shouri Addepally
Siddharth Sharma
Stasiu Chyczewski Arne Fliflet design_document1.pdf
other1.pdf
26
Lens Controller for Biomedical Cameras
Ji Hun Kim
Kevin Sha
Siddharth Sharma
Zhicong Fan Viktor Gruev design_document1.pdf
presentation1.pdf
proposal1.pdf
video1.mp4
27
Compact MW Laser
Arne Fliflet

Decentralized Systems for Ground & Arial Vehicles (DSGAV)

Mingda Ma, Alvin Sun, Jialiang Zhang

Featured Project

# Team Members

* Yixiao Sun (yixiaos3)

* Mingda Ma (mingdam2)

* Jialiang Zhang (jz23)

# Problem Statement

Autonomous delivery over drone networks has become one of the new trends which can save a tremendous amount of labor. However, it is very difficult to scale things up due to the inefficiency of multi-rotors collaboration especially when they are carrying payload. In order to actually have it deployed in big cities, we could take advantage of the large ground vehicle network which already exists with rideshare companies like Uber and Lyft. The roof of an automobile has plenty of spaces to hold regular size packages with magnets, and the drone network can then optimize for flight time and efficiency while factoring in ground vehicle plans. While dramatically increasing delivery coverage and efficiency, such strategy raises a challenging problem of drone docking onto moving ground vehicles.

# Solution

We aim at tackling a particular component of this project given the scope and time limitation. We will implement a decentralized multi-agent control system that involves synchronizing a ground vehicle and a drone when in close proximity. Assumptions such as knowledge of vehicle states will be made, as this project is aiming towards a proof of concepts of a core challenge to this project. However, as we progress, we aim at lifting as many of those assumptions as possible. The infrastructure of the lab, drone and ground vehicle will be provided by our kind sponsor Professor Naira Hovakimyan. When the drone approaches the target and starts to have visuals on the ground vehicle, it will automatically send a docking request through an RF module. The RF receiver on the vehicle will then automatically turn on its assistant devices such as specific LED light patterns which aids motion synchronization between ground and areo vehicles. The ground vehicle will also periodically send out locally planned paths to the drone for it to predict the ground vehicle’s trajectory a couple of seconds into the future. This prediction can help the drone to stay within close proximity to the ground vehicle by optimizing with a reference trajectory.

### The hardware components include:

Provided by Research Platforms

* A drone

* A ground vehicle

* A camera

Developed by our team

* An LED based docking indicator

* RF communication modules (xbee)

* Onboard compute and communication microprocessor (STM32F4)

* Standalone power source for RF module and processor

# Required Circuit Design

We will integrate the power source, RF communication module and the LED tracking assistant together with our microcontroller within our PCB. The circuit will also automatically trigger the tracking assistant to facilitate its further operations. This special circuit is designed particularly to demonstrate the ability for the drone to precisely track and dock onto the ground vehicle.

# Criterion for Success -- Stages

1. When the ground vehicle is moving slowly in a straight line, the drone can autonomously take off from an arbitrary location and end up following it within close proximity.

2. Drones remains in close proximity when the ground vehicle is slowly turning (or navigating arbitrarily in slow speed)

3. Drone can dock autonomously onto the ground vehicle that is moving slowly in straight line

4. Drone can dock autonomously onto the ground vehicle that is slowly turning

5. Increase the speed of the ground vehicle and successfully perform tracking and / or docking

6. Drone can pick up packages while flying synchronously to the ground vehicle

We consider project completion on stage 3. The stages after that are considered advanced features depending on actual progress.

Project Videos