Autonomous robot to take on a "Ninja Warrior" style obstacle course
SENIOR DESIGN CAPSTONE PROJECT - COMPOSITE WIND TURBINE
My team is designing and manufacturing a vertical axis wind turbine to place on top of one of the engineering buildings for future research. The project advisor is Professor M. Metzger, Ph.D. who has been assisting us over the Spring 2018 and Fall 2018 semesters. We are currently trying to finalize the fabrication process of the carbon fiber turbine blades as well as begin the electrical design. Our goal is to have the full mechanical assembly complete and functional by the beginning of October 2018.
AUTONOMOUS OBSTACLE COURSE ROBOT
This project was for the University of Utah Junior Mechatronics Competition. We placed second overall, completing 3 of the 5 obstacles in one attempt without stops or resets. The goal was to build a robot that could complete an obstacle course autonomously. The obstacles included a paddle board, wall lift, line following u-turn, rails over a gap, and a vertical wall with a button at the top. The robot had to be controlled (starting, stopping, testing) wirelessly using an Arduino Uno and an Arduino Mega with xBee wireless radio modules.
Our design focused on completing the first four obstacles. We used Position-Derivative (PD) control to drive our robot in a straight line accross the paddle board. The robot then would lift the wall using the wheels at the end of the arms and drive under. We used a collection of IR sensors placed off the front of the robot and PD control to line follow around the u-turn. The wheels that lifted the wall were then moved upward to traverse the rails.
We used an arduino I designed and assembled all of the electrical, wrote all of the test programs, and helped model the final assembly. I also 3D printed the cover for the robot. The design used two 1:100 gear ration drive motors, a servo to control the arm position and a third motor to lift the wall and move across the rails.
PING PONG BALL LAUNCHER
This project was for the University of Utah Sophomore mechanical engineering competition. We were given an image with several green boxes on it representing the location of holes in front of the launcher. We had to use MATLAB to analyze the image and calculate the positions of the holes in front of the launcher. The launcher then had to autonomously move and fire several ping pong balls into the holes. I wrote all the code for this project and fine tuned the launcher distance equations.
AUTONOMOUS WALL FOLLOWING ROBOT
This project was for the Salt Lake Community College Freshman mechanical engineering introduction course. This project used an Arduino uno and two ultrasonic sensors to follow a wall and traverse a small course. I wrote all the code, did the electrical work and assembled most of the robot.