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Empowering Future Engineering Innovators

Student Design Finalist Showcase

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3250 Submissions

25 Countries

3 Finalists

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EureCar, KAIST Self-Driving Car

Korea Advanced Institute of Science and Technology

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Unghui Lee EureCar, KAIST Self-Driving Car

Korea Advanced Institute of Science and Technology, KAIST

eurecar@unmanned.kaist.ac.kr

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EureCar, Self Driving Car

EureCar

DGPS Novatel OEMV-2 x 2

7 Laser Scanners Sick - LMS291 x2, Sick - LMS151 x2 Ibeo – LUX, Hokuyo – UTM-30LX x2

EureCar Turbo

GPS U-blox EVK-6T

Laser Scanner Velodyne HDL-32E

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EureCar, Self Driving Car

Vision Computer

Path PlannerComputer

Laser & Map Computer

Navigation Computer

ControlComputer

Version 1 Version 2

2 years

ComapactRIO

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EureCar turbo, Self Driving Car

5 Months

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Path Planner PC

Shared Variables

◀ Position, Vehicle info ▶ Velocity & Steer CMD.

CAN Communication Steering Controller

ECU

USB

RS-232 GPS

Global Positioning Timed Loop - Real Time Module

Brake Control Throttle Control PWM

Actuator Control Loop - PID and Fuzzy toolkit

E-STOP SW

Digital Input.

Auto/Manual Digital Input.

FGPA module

CompactRIO – Localization and Controller

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Path Planner PC – LabVIEW Front Panel

GPS Info.

Obstacles and Path Vehicle Status

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Path Planner PC – LabVIEW Front Panel

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Unified Map

Crosswalk, Traffic Lights Pedestrian, Toll Bar

Detection

Situation Awareness

Parking Line Detection

Obstacle Detection Car, cones (obstacles) Road Blocks, Lane

Laser Data Processing Desktop PC

C++

Navigation & Control NI CompactRIO

Path Planner Desktop PC Labview

Vision Processing Desktop PC

C++ Sensor Interface

Front View Camera Ethernet

Rear Down Camera Ethernet

Velodyne HDL-32e Ethernet

EureCar Turbo System configuration

Local Trajectory Re-planning

Driving Status Check high-level decision

making

Path tracker

New

Path

Vehicular status

Current path

Collision Point

Vehicular

Status

Path

Path Planner

Yaw rate, Wheel Speed Car Built in Senor, CAN

Localization

Position, Heading,

Vehicle Info.

Absolute location and

heading

Speed, Steering angle

GPS (Ublox) USB

Vehicle Control

Steering Speed

command

CompactRIO

Actuator

Throttle Pedal Control Motor

Brake Pedal Control Motor

Steering Wheel CAN

Shift Lever Control Motor

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Parking Lot Number Sign

Parking Area (Finish Point)

Start

Crosswalk

Pedestrian Detection

Crossbar

Detour Mission Result

Crosswalk detection Success

Traffic light Success

Complex obstacles Success (zero cone)

Pedestrian Detection Failure

Detour Success (zero cone)

Passing slow vehicle Success

Pop-up obstacle Success

Crossbar Detection Success

Parking Success

“Hyundai Challenge” Competition-at-a-glance (EureCar)

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“Hyundai Challenge” Competition (EureCar)

Speed [km/h]

Ave. 22.43

Max. 51.75

time 0:09:07

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EureCar Turbo

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EureCar Turbo

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EureCar Turbo

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Team EureCar, KAIST

Team Members : Unghui Lee, Jiwon Oh, Jiwon Jung, Seunghak Shin, Inwook Shim Jongwon Choi, Youngseop Jung, Kibaek Park, Minhyun Kim

Faculty Advisers: Hyunchul Shim, Inso Kweon, Seibum Choi

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Thank you

Q & A

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Sepios: Nautical Robot

Swiss Federal Institute of Technology in Zürich

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STUDENT DESIGN SHOWCASE Pascal Buholzer & Fabio Dubois

August 4th 2014

Title

23 Outline

1. Introduction a. The Sepios Project b. Nature as Inspiration c. Goal & Vision

2. Design Process a. Early Stages b. Mechanical Design c. Electronics & Software

3. Achievements a. Omnidirectionality b. Attitude Control c. Collision Avoidance

4. Outlook

Presentation Outline

24 Introduction 1/4

Introduction

25

Introduction 1/4

www.polyball.ch

The Sepios Project

26

Introduction 1/4

… to the final robot

from the first draft…

The Sepios Project

27

Introduction 1/4

http://wall.alphacoders.com

Nature as Inspiration

28

Introduction 1/4 Cuttlefish Love by Michael McCue from http://vimeo.com/17280832

29

• Wide-stretching vortices

• Cavitation

• Hazardous

Introduction 1/4

www.nakashima.co.jp www.oceaneering.com

Current Technology

30

Introduction 1/4

Anup A. Sirgaonkar et al. [2008]

Undulating Fin Propulsion

31 Introduction 1/4

Our Goal

Proof of omnidirectional locomotion capabilities of a nautical robot with sepia inspired fins.

32 Design Process 2/4

Design Process 95 cm

70 cm

22.7 kg

1.8 km/h

37 motors

4700 parts

90 min

33

Brainstorming session, September 2013

Design Process 2/4

Brainstorming

34

Critical function prototyping

Servo load tests Proof of concept: LEGO prototype

Design Process 2/4

Prototyping and Testing

35

Base Unit Connection Board

Fin Case Powertrain

FIN

MEC

HA

NIC

S IN

TER

IOR

Design Process 2/4

Mechanical Design

36

Lowest Safety Coefficient > 1.5

5 2

1

3

4 6

Design Process 2/4

Dimensioning

37

X-Ring Sealing

Flat Sealing

Design Process 2/4

Sealing the Deal

38

POWER MANAGEMENT

AVR based self-designed connection board

HIGH-LEVEL COMPUTING

National Instruments myRIO

Design Process 2/4

Electronics and Software

39

Battery

myRIO

IMU

Connection Board

Pump Motor Driver

Distance Sensor

Pump Motor

Swimbladder

Laser

Camera

Ethernet Switch

Design Process 2/4

Base Unit

41

Implementation Overview (LabVIEW)

myRIO in Robot

• Variable Server

• Sensor Stream (100 Hz)

• Attitude Controller

Interface on PC

• Variable Client

• Indicators regularly updated

Calculations on PC

• Variable Client

• Kalman Filter (MathNode)

42

PeripheryInput

Input Handler

Control Mode

SwitchboardUser steering inputs

ControllersSecondary steering inputs

Control allocation

Steering inputs & settings

CheckServo positions

@60 Hz I2C-BusAdjusted positionsMicrocontroller

(in fin case)ServosPWM signals

Feedback Connection statusIndicators

Target values

Mode settings

Sensor Data

Kalman Filter Actual values @100 Hz

Steering Input Flow

Realtime-Application

(myRIO) Interface

(PC)

Heavy Calculations

(PC)

Demonstration 5/6

43

Live Stream Attitude Display Parameter Tuner Sensor Manager Data Logger

Design Process 2/4

User Interface

44

ROBUSTNESS

USER-FRIENDLINESS FLEXIBILITY

MODULARITY

OMNIDIRECTIONALITY

Design Process 2/4

Final Concept Key Characteristics

45

Achievements

Achievements 3/4

46

Omnidirectionality

47

48

Requirement Value Value achieved

Acceleration time 4s <1s

Deceleration time 2s <1s

Cruising speed 0,5 m/s 0,5 m/s

Drift velocity 0,1 m/s 0.18 m/s

Vertical diving speed 0,1 m/s 0.18 m/s

Angular speed roll-axis 20 °/s 30 °/s

Achievements 3/4

Requirements - Omnidirectionality

49

Achievements 3/4

Control Allocation

50

IMU

Pressure sensor

Achievements 3/4

Attitude Control

51

Achievements 3/4

Collision Avoidance

52

Introduction 1/4

Our Vision

53

Introduction 1/4

54

Introduction 1/4

Research

55

Introduction 1/4

Entertainment

56

Introduction 1/4

Filming Marine Life

57

Introduction 1/4

Offshore Engineering

58

Outlook

Outlook 4/4

59

http://www.baselinenglish.ch

Outlook 4/4

Basel

60

http://india.wikia.com

Outlook 4/4

India

61

Thank You for Your Attention

Web: sepios.org Email: info@sepios.org Phone: +41 44 632 69 53 Institute: www.asl.ethz.ch

Coaches Stefan Bertschi

Gregory Hitz

Andreas Schaffner

Directorship

Prof. Dr. Roland Siegwart

Dr. Roland Haas

Student Design Showcase, 04.08.2014, by Pascal Buholzer and Fabio Dubois

Address: Sepios, ASL CLA E17.2, ETH Zürich Tannenstr. 3, 8092 Zürich Switzerland

Credits

62

Credits

63

Credits

64

Credits

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NASA Student Launch Project

University of North Carolina at Charlotte

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UNC Charlotte Student Launch Solid Fuel Rocket Motor Modulation

Jerry Dahlberg, Robert Stone and Dewey Greer

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UNC Charlotte: 2013-2014 Team

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Student Launch Program

The NASA Student Launch is a research-based, competitive and experiential exploration project that provides relevant

and cost-effective research and development to support the Space Launch System. [1]

[1] http://www.nasa.gov/audience/forstudents/studentlaunch/home/index.html

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The Project

• Required Payloads • Hazard detection system

• Structural and dynamic analysis of airframe, propulsion, and electrical systems during boost.

• Aerodynamic analysis of structural protuberances.

• Unique Team Payloads • Atmospheric sensor

package

• Thrust modulation system

• Vehicle Requirements • Must not exceed 20,000 ft

• Reusable

• Use commercial motors

• Team designed and constructed recovery system

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The Challenge

• The largest portion of the project involved dynamically controlling the thrust from a solid fuel rocket motor during motor burn to achieve a desired altitude, as well as conducting a dynamic analysis of propulsion during boost and protuberances during flight.

• To date, NASA and others have had limited success implementing a thrust modulation system on a solid fuel rocket.

• Modulating thrust in a liquid fuel motor is achieved by altering the air-fuel mixture in the motor, which is not possible in a solid fuel motor.

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The Experiments

• Experimentation was required to determine a method to modulate thrust during motor burn of a solid fuel motor.

• A variable nozzle extension, activated by a high torque servo motor modulated thrust during the motor burn, which only lasted 3.69 seconds.

• Controlled via a closed-loop system with feedback from an onboard accelerometer

• This modulation decreased the efficiency of the thrust and allowed the team to decrease acceleration, and limit the final altitude to near the desired 3100 feet.

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The Experiments

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Vehicle Design

• 93” in height, nominal 4” O.D.

• Carbon fiber and G10 fiberglass construction • C.F. provides good strength-to-weight ratio

• Fiberglass allows for better signal transmission

• Four distinct sections: • Booster: Houses motor, thrust modulation

system, and corresponding electronics

• Parachute bay: Houses drogue and main parachutes

• Recon Module: Ground scanning landing hazard detection, atmospheric sensor package

• Nose cone: Houses recon main parachute

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Key Design Features

• Thrust Modulation • Dynamic thrust modulation during motor burn

• Reconnaissance Module • Hazard detection via bottom mounted camera

• Strain gauge integration • Located in the body tubing and fins

Strain gauges integrated into the a fin

Thrust Modulation

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Payload Design

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Payload Design

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Data Acquisition and Control

• Each payload bay operated on its own dedicated myRIO unit

• Dual-core ARM cortex-A9 processor

• FPGA

• 40 digital I/O, 16 analog I/O, (10 input/6 output)

• Onboard data storage

• Onboard programmable LEDs (4), 3-axis accelerometer, WiFi

• The NI myRIO provided the necessary speed, I/O, and computing power for this application, as well as LabVIEW™ functionality

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Testing

• Atmospheric sensors were tested against a weather station on campus at UNC Charlotte.

• GPS sensors were tested outdoors in an open area. Signal was quickly and easily acquired.

• XBee transmitters were tested outdoors at long distances (greater than ½ mile) line-of-sight. Range was found to be approximately ¾ of a mile.

• Strain gauges were tested in a lab before and after installation.

• Thrust modulation was tested both on the test stand and in a lab.

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Flights

• 5 Sub-scale flights • Modulated thrust using fixed

length slider

• Recorded data to be used in student built shaker table

• 4 Full-scale flights • Modulated thrust by over 40%

• Scanned the ground for hazards

• Monitored stresses / strains in fins and body

• Recorded atmospheric conditions

• Data stored on-board and transmitted to ground station

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Full Scale Test Launch

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Results

• Successfully met all mission requirements

• Modulated thrust dynamically during flight

• Scanned ground for hazards

• Monitored and recorded stresses in vehicle

• Recorded atmospheric conditions

Awards • Best Vehicle Design - The most creative, innovative,

safety-conscious rocket design - NASA

• Lee College of Engineering / UNCC Senior Design Expo – 3rd Place

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Sponsors

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Full Team at Salt Lake City, Utah

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Team with Astronauts Charlie Precourt and Kent Rominger at NASA award Ceremony

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Thank You

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