Project

# Title Team Members TA Documents Sponsor
31 Movable Robotic Arm Platform
 Chenxi Wang
Shihua Zeng
Zhizhan Li
Zhuohao Xu
 appendix1.docx
design_document5.pdf
design_document6.pdf
design_document1.pdf
design_document2.pdf
design_document3.docx
final_paper1.pdf
final_paper2.pdf
photo1.png
proposal1.pdf
proposal3.pdf
proposal2.pdf
 Jiahuan Cui
# Problem

There will be dangerous waste that generate daily in laboratory or factory. Moving the waste manually can be risky because operator will contact these materials which may be toxic, explosive, radiative, etc. Hence, disposal unit need a better way to remotely take, and transport boxed waste within narrow circumstances like aisle. Meanwhile, they can also remotely place the waste into the disposal device in a specific orientation.

# Solution Overview

Our solution for remote taking, moving, and placing hazardous waste is to build a movable robotic arm platform with somatosensory controller.
- The platform with four non-offset caster wheels can move omnidirectionally without changing chassis orientation, making robot be able to move in narrow space smoothly without making much turn.
- There will be a 6-freedom robotic arm with a suction cup end actuator on platform. The arm can easily get and place the object at any orientation we want.
- The platform has a camera to give real-time video feedback. Operator can refer to the feedback and adjust robotic arm’s movement by moving its hand with somatosensory controller.

# Solution Components

## Omidirectional Chassis
- 4 non offset caster wheels with motor controlling steering
- A camera to give video feed back

## Robotic Arm
- A SCARA type structure providing 3 axes translation freedom
- A RRR structure at the end providing 3 axes rotation freedom
- A suction cup end actuator to suck and drop object

## Controller
- A Jetson Orin Nano miniPC to run the code within ROS
- A specially designed controller with 3 IMU to detect the position change of user’s hand, then mapping the movement to robotic arm.

# Criterion for Success
- The platform can operate smooth omnidirectional translation and rotation.
- The robotic arm can fetch a 200*200*200mm, 600g-700g EVA cubic (we assume it as dangerous material in laboratory) from a 218*218mm square section tunnel precisely.
- The robotic arm can transport the cubic and then placing it into a 240*240*240 mm box whose orientation will varying in 6 axes.
- The operator can easily control the robotic arm remotely with its hand moving and placing the cubic within 40s.

Fountain show

Dingyi Feng, Tianli Ling, Zhelun Lu, Shibo Zhang

Featured Project

## Team

- Dingyi Feng(dingyif2)

- Tianli Ling(tling3)

- Zhelun Lu(zhelunl2)

- Shibo Zhang(shiboz2)

## Problem:

A fountain show on campus can make students feel more relaxed after class. However, some fountain shows only have monotonous, stiff, and single actions. Besides, they cannot automatically generate action and light effects. Compared with large fountain shows, small and medium-sized fountain shows have the advantage of time and space. In most cases, a large fountain show only has preloaded music which cannot be decided by audiences. Large fountain shows also require people to design the action and light effects for each music, which takes lots of time and effort. Compared with the large fountain show, our small fountain show will be more energy-efficient and environmentally friendly. During the COVID-19 pandemic, large fountain shows might result in large crowds gathering, but a small fountain show can reduce the risk of infection.

## Solution Overview:

Our fountain show would be built at a pool on the sourthwest of the main lake on campus. By manually programing, the fountain show could realize changing lighting effects and movements. Besides, our fountain show could also identify the music which was imported into our system, and automatically generate the lighting effects and movements with the music. If time permits, we will strengthen the human-computer interaction of our product. To be specific, people could scan the QR code or use our online system to choose the music they want, so that they can enjoy the fountain show at any time.

## Solution Components:

### Control Subsystem:

- Music colleccting and analyzing subsystem: Computer that can import music signals and analyze them.

- Converting subsystem: After music signal is analyzed, we need computer to convert useful signals into digital signals. Digital signals will be used to control LEDs and other mechanical subsystems.

### Mechanical Subsystem:

- Pump Subsystem: Water pump that can pump water from the lake. Valves will be used to control water’s flow rate of each nozzle.

- Lighting Subsystem: LEDs are needed to light our fountains. They are controlled by microprocessor on PCB. Their brightness and color can be changed with music.

- Motor Subsystem: Two motors are needed for each fountain nozzle to control the movements. The motors are controlled by microprocessor on PCB.

### Power subsystem:

- The pump is drived by DC power (12V 20~30A). PCB and computer will be drived by USB (5V 1A). Full module power supply with 12V and 5V output is needed.

## Criterion for Success:

- If it can successfully identify a piece of music and convert it to electrical signals that we need in controlling LED’s lighting and nozzle’s moving.

- If the whole system can work stably for a long time and whether it is safe to use without electric leakage or other problems.

- If music playing, fountain movements and LED lights are synchronized.

- If the fountain system is neat and whether the fountain performance is ornamental enough.