Project

# Title Team Members TA Documents Sponsor
19 Smart Power Routing with MPPT-Based Wind Turbine
 Rong Li
Tiantian Zhong
Zhekai Zheng
 design_document2.pdf
design_document3.pdf
proposal2.pdf
 Lin Qiu
## Problem Statement

Traditional wind energy systems often face challenges related to suboptimal power extraction, limited adaptability, and inadequate integration with smart grids. Conventional wind power systems usually requires a giant turbine which produces power for the grid. Yet a new trend arises in recent years where a small wind power system is installed on a fisher or on the roof of a villa. Such scenario requires a stable power converter and router to ensure stable power supply, which not only allows the user to use cheap and clean wind energy, but is also able to switch to battery or mains when wind force is too light to drive the turbine or when the turbine is in fault.

## Solution Overview and Components

The proposed solution involves the development and implementation of the system integrated with a MPPT-based wind turbine. This comprehensive solution aims to address the inefficiencies and limitations of traditional wind energy systems by incorporating advanced technologies for optimal power extraction, intelligent management, and seamless integration with smart grids.

Some key components of the solution are as follows:

1. **Wind turbines.** The project plans to use a three-phase asynchronous motor to build a down-scaled wind turbine. The turbine should produce no more than 30 V AC output under normal weather condition with wind speed less than 8 m/s (force 4). (Similar turbine with suitable size (diameter = 1.1 m) for the project appears on Taobao, which has rated output voltage 12 V, maximum power ranges from several hundred watts to kilowatts, and can work safely within wind speed 35 m/s (wind force 6). Link to the turbine)
2. **MMC-Based AC-DC converter.** This unit is expected to provide stable DC output for users. Its controller consists of MCUs and voltage sensors. The converter should be designed using MMC technology and should be able to implement Maximum Power Point Tracking (MPPT).
3. **User interface.** This unit displays real-time current, voltage and power of the system.
4. **Simulated mains.** This is a low-voltage (<30 V) power supply that simulates the mains. It is apparently down-scaled for safety considerations.
5. **Routing system.** This unit should be able to decide which power should be connected to the load, the turbine or the simulated mains.
6. **Safety.** An emergency stop button should be connected to the circuit in order to cut off all power sources and stop the turbine whenever an emergency happens. Control units should be able to cut the power when the system is overload or in fault status. The solution should fit in relevant national or industrial standards.

## Criterion for Success

The design will be tested using various common loads that is used at home. The following criterion should be satisfied to indicate a successful design:

1. **Safety is the first priority**. All safety measures should be working properly.
2. The controller should be able to keep the converter working at the maximum power point.
3. The MMC converter should be able to provide stable output with current and voltage ripple less than $\pm10\%$​​.
4. The controller should switch between power supplies within a short period of time (specific time limit needs to be determined after further research on relevant national standards and other technical documents).

## Distribution of Work

The project can be divided into three modules – the power system, the control system, and the mechanical system.

- The power system deals with everything related to power transmission, include the design of generators and converters.
- The control system provides control signals to the converter, properly routes power to the load, and provide safety measures.
- The mechanical design should put every hardware components organized to form a ready-to-use product, and print necessary instructions and warnings at proper places.

The following is the detailed task division:

- Power system and circuit design: Rong Li & Zhekai Zheng
- Control system and circuit design: Tiantian Zhong & Rong Li
- Mechanical design and manufacturing: Zhekai Zheng
- Purchasing, finance, and other miscellaneous affairs: Tiantian Zhong

High Noon Sheriff Robot

Yilue Pan, Shuting Shao, Yuan Xu, Youcheng Zhang

Featured Project

# MEMBERS:

- Yuan Xu [yuanxu4]

- Shuting Shao [shao27]

- Youcheng Zhang [yz64]

- Yilue Pan [Yilvep2]

# TITLE:

HIGH NOON SHERIFF ROBOT

PROBLEM:

Nowadays with the increasing number of armed attacks and shooting incidents. The update for public places needs to be put on the agenda. Obviously, we could not let police and security to do all the jobs since humans might neglect some small action of threat behind hundreds of people and could not respond quickly to the threat. A second of hesitation might cost an innocent life. Our team aims on making some changes to this situation since nothing is higher than saving lifes not only victims but also gunners. We find some ideas in the Old western movies when two cowboys are going to a high noon duel, the sheriff will pull out the revolver quicker than the other and try to warn him before everything is too late. If we can develop a robot that can detect potential threats and pull out weapons first in order to warn the criminal to abandon the crime or use non-lethal weapons to take him down if he continues to pull out his gun.

# SOLUTION OVERVIEW:

In order to achieve effective protection in a legal way, we have developed the idea of a security robot. The robot can quickly detect dangerous people and fire a gun equipped with non-lethal ammunition to stop dangerous events.

The robot should satisfy the following behavioral logic:

- When the dangerous person is acting normally and there is no indication of impending danger, the robot should remain in standby mode with its robot arm away from the gun.

- When the dangerous person is in a position ready to draw his gun or other indication of dangerous behavior, the robot is also in a drawn position and its arm is already clutching the gun.

- When the dangerous person touches his gun, The robot should immediately draw the gun, move the hammer and finish aiming and firing to control the dangerous person. This type of robot would need to include three subsystems: Detection system, Electrical Control system, and Mechanical system.

# SOLUTION COMPONENTS:

## [SUBSYSTEM #1: DETECTION SUBSYSTEM]

This subsystem consists of a camera and PC. We are going to use YOLO v5 to detect object, determine the position of human and the gun. Use DeepSORT to track the object, let the camera follow the opponent. Use SlowFast to detect opponent’s behavior.

## [SUBSYSTEM #2: ELECTRICAL CONTROL SYSTEM]

This subsystem consists of a STM32, two high speed motors, two gimbal motors, one motor for revolver action and position sensor. The STM32 serves as the controller for the motors. The high speed motor will be used to move the mechanical grab to grab the revolver and pull it out as fast as possible so that it will use the position sensor as the end stop point instead of PID control. The gimbal motors serve as Yaw and Pitch motion for the revolver to control the accuracy of the revolver so that it needs encoders to give the angle feedback.

## [SUBSYSTEM #3: MECHANICAL SYSTEM]

This subsystem consists of a three-degree-of-freedom robot arm and a clamping mechanism fixed to the end of the arm. The clamping mechanism is used to achieve the gripping of the gun, the moving of the hammer and the pulling of the trigger. The mechanical arm is used to lift and aim the gun.

# CRITERION FOR SUCCESS

- Move Fast. The robot must draw its gun and aim faster than the opponent；

- Warning First. If opponent’s hand moves close to the gun on his waist, the robot should draw the gun and aim it at the opponent without firing. If the opponent gives up drawing a gun and surrender, the robot should put its gun back in place. Otherwise, the robot will shoot at the opponent.

- Accurate shooting. Under the premise that the opponent may move, the robot must accurately shoot the opponent's torso.

# DISTRIBUTION OF WORK

- EE Student Shuting Shao: Responsible for object detection and object tracking.

- EE Student Yuan Xu: Responsible for behavior detection and video processing.

- EE Student Youcheng Zhang: Responsible for electrical control system.

- ME Student Yilue Pan: Responsible for the Mechanical system.