Mech - User contributions [en]

Butterfly Rolling Manipulation

2010-03-19T05:36:58Z

WilliamFan: /* Parts List */

=Overview=
The goal of the rolling manipulation project was to perform a contact juggling move called the "butterfly" on a circular disc or sphere. Prior research on the subject of contact juggling, including a paper by Professor Kevin Lynch, formed the basis for this project. The shape of the apparatus and the general butterfly motion, were obtained from the Lynch paper. Within the scope of four weeks, we succeeded in designing the circuitry and mechanical systems required to implement and test this motion. The following sections will document our step by step process.

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

In order to achieve the butterfly motion, a well designed, non-moving base and setup must be fabricated. Listed below shows the Bill of Materials, How we chose the shape of the butterfly, how it was mounted, and finally the design and iterations of the disc system.

The CAD of the entire system can be found HERE:

==Bill of Materials==

{| border="1"
! style="background:#efefef;" | Item
!! style="background:#efefef;" | Number
!! style="background:#efefef;" | Supplier

|-
| 0 || 0 || Brake
|-
| 0 || 1 || Forward
|-
| 1 || 0 || Reverse
|-
| 1 || 1 || Brake
|-
|}

==The Hand: Butterfly Shape==

The shape was determined using a matlab code from Fabio, A PH.D student in the LIMS lab at Northwestern University. The code manipulates a set of parametric equations to give a continuous curvature set of points. The user can chose four parameters in order to change the shape of the butterfly. However, it is possible to obtain a shape completely outside the realm of possibility for rolling manipulation with intersections of the spline and extremely sharp corners. The shape we chose had values around: X X X X and is shown to look like: IMG

After the shape was decided, we output the set of <x,y,z> points to Solidworks design software and created a curve through points (Insert-->Curve-->Through XYZ Points). From there, we light weighted the part and placed four holes for mounting and a through hole for the motor shaft. Two of these butterflies were made using the laser cutter in the shop. Since the laser cutter and the MATLAB code produced some jagged edges on the part, we then carefully sanded the edge of the butterfly to decrease any hills and valleys present on the shape. Microbumps can cause discontinuities in sensing and in actuation of the motor.

==The Mount==

==The Disc==

[[Image:M333_2010_Butterflydisc.jpg|upright=1.5|thumb|Isometric View of Rolling Disc]]
The shape and size of the roller disc is one of the most important parts of the entire design. We decided to create a lightweight, brass rolling disc that would not only hold up to the riggors of testing, but also conduct electricity for future sensing applications of the disc. We made three discs for three with three different weights and wall sizes. In the end, the disc weighs only 22 grams, has 1/32" walls, and has nearly zero resistance.

The solidworks drawing of the disc can be found [[Media:ME333_2010_DiscDrawing.pdf|here]]

The disc was made via the following steps:

1) Locate at least 1.75" OD free machining brass 
2) Rough cut around a 2" length of brass 
3) Debur rough edges using belt sander 
4) Locate 1 3/4" and 1 11/16" oversized collets 
5) Place 1.75" OD brass in Hardinge Toolroom Lathe using oversized collet and closer, with around 1.5" exposed 
6) Insert turning tool into compound 
6) Machine OD to finish diameter for full length of open area 
7) Remove turning tool, insert groover 
8) Being careful to reset zeros on the lathe, slowly machine the wide-set groove in the disc 
9) Remove grooving tool 
10) Center drill, then drill 3/8" through hole 
11) Insert boring bar 
12) Take successive passes to finish inner diamater as far as possible 
13) Remove disc from collet, replace collet with 1 11/16" collet 
14) Put Disc in backwards with machined side in collet, remove excess material 
15) Use boring bar to finish lip on other side 

Note: 1/32" wall can be quite tricky. Take it slow. It takes around 3 hours to make one disc since high precision is needed. If you need advice to make another various disc, please speak to Ben.

=Circuit=

The circuit is fairly simple in nature. The main electrical components are a motor, optical interrupter, h-bridge, and LCD.

==Parts List==
[[Image:Butterfly Circuit.jpg|upright=2|thumb|Butterfly Circuit.]]
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Optical Interrupter
*[[Actuators Available in the Mechatronics Lab|Pittman GM8224 motor]]
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8224 24V motor was chosen for the apparatus. Information for the motor can be found [[Actuators Available in the Mechatronics Lab|here]]. Originally, our motor did not use a gear-head in order to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

The H-Bridges used in our project burned out at random times, especially if the PIC was turned on and the supply power was also on. This may be due to pins on the PIC initializing incorrectly. Therefore, it is best to start up the PIC, wait a few seconds, then turn on the power supply.

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor and inertia of the system mass, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

- Eliminate backlash via gearless motor

- Sense position of the disc using copper tape and resistive wire

- Implement PID control on motor position, along with control of PID using sensing of disc

- Test other butterfly shapes with lower or higher curvature

- Test other disc shapes with different center of masses and weights

- Replace H-Bridges with nicer ones that can take higher amperage

- Optically isolate circuit from noise

Butterfly Rolling Manipulation

2010-03-19T02:32:04Z

WilliamFan:

=Overview=
Our project was to perform a contact juggling move called the "butterfly" on a circular disc. Papers have been submitted on the shape of the butterfly apparatus, along with the general motion in order to perform the move. Implementing these papers for the first time in full gravity, we were able to design the circuitry, build the system, and test it in a matter of four weeks. The below wiki will explain our process step by step.

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

In order to achieve the butterfly motion, a well designed, non-moving base and setup must be fabricated. Listed below shows the Bill of Materials, How we chose the shape of the butterfly, how it was mounted, and finally the design and iterations of the disc system.

==Bill of Materials==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

[[Image:M333_2010_Butterflydisc.jpg|upright=1.5|thumb|Isometric View of Rolling Disc]]
The shape and size of the roller disc is one of the most important parts of the entire design. We decided to create a lightweight, brass rolling disc that would not only hold up to the riggors of testing, but also conduct electricity for future sensing applications of the disc. We made three discs for three with three different weights and wall sizes. In the end, the disc weighs only 22 grams, has 1/32" walls, and has nearly zero resistance.

The solidworks drawing of the disc can be found [[Media:ME333_2010_DiscDrawing.pdf|here]]

The disc was made via the following steps:

1) Locate at least 1.75" OD free machining brass 
2) Rough cut around a 2" length of brass 
3) Debur rough edges using belt sander 
4) Locate 1 3/4" and 1 11/16" oversized collets 
5) Place 1.75" OD brass in Hardinge Toolroom Lathe using oversized collet and closer, with around 1.5" exposed 
6) Insert turning tool into compound 
6) Machine OD to finish diameter for full length of open area 
7) Remove turning tool, insert groover 
8) Being careful to reset zeros on the lathe, slowly machine the wide-set groove in the disc 
9) Remove grooving tool 
10) Center drill, then drill 3/8" through hole 
11) Insert boring bar 
12) Take successive passes to finish inner diamater as far as possible 
13) Remove disc from collet, replace collet with 1 11/16" collet 
14) Put Disc in backwards with machined side in collet, remove excess material 
15) Use boring bar to finish lip on other side 

Note: 1/32" wall can be quite tricky. Take it slow. It takes around 3 hours to make one disc since high precision is needed. If you need advice to make another various disc, please speak to Ben.

=Circuit=

==Parts List==
[[Image:Butterfly Circuit.jpg|upright=2|thumb|Butterfly Circuit.]]
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*[[Actuators Available in the Mechatronics Lab|Pittman GM8224 motor]]
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8224 24V motor was chosen for the apparatus. Information for the motor can be found [[Actuators Available in the Mechatronics Lab|here]]. Originally, our motor did not use a gear-head in order to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

- Eliminate backlash via gearless motor

- Sense position of the disc using copper tape and resistive wire

- Implement PID control on motor position, along with control of PID using sensing of disc

- Test other butterfly shapes with lower or higher curvature

- Test other disc shapes with different center of masses and weights

- Replace H-Bridges with nicer ones that can take higher amperage

- Optically isolate circuit from noise

Butterfly Rolling Manipulation

2010-03-19T01:03:42Z

WilliamFan: /* Parts List */

Butterfly Rolling Manipulation

2010-03-19T01:02:29Z

WilliamFan: /* Parts List */

File:ButterflyCircuitDiagram3.jpg

2010-03-19T01:00:38Z

WilliamFan:

Butterfly Rolling Manipulation

2010-03-19T00:49:16Z

WilliamFan: /* Parts List */

Butterfly Rolling Manipulation

2010-03-18T07:17:33Z

WilliamFan: /* Motor */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
[[Image:Butterfly Circuit.jpg|upright=2|thumb|Butterfly Circuit.]]
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8724S017 24V motor was chosen for the apparatus. Information for the motor can be found [[http://www.electromate.com/db_support/downloads/GM8724S017.pdf here]]. Originally, our motor did not use a gear-head in order to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T07:16:57Z

WilliamFan: /* Parts List */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
[[Image:Butterfly Circuit.jpg|upright=2|thumb|Butterfly Circuit.]]
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8724S017 24V motor was chosen for the apparatus. Information for the motor can be found [[http://www.electromate.com/db_support/downloads/GM8724S017.pdf here]]. Originally, our motor did not use a gear-head to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T07:16:46Z

WilliamFan: /* Parts List */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
[[Image:Butterfly Circuit.jpg|upright=3|thumb|Butterfly Circuit.]]
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8724S017 24V motor was chosen for the apparatus. Information for the motor can be found [[http://www.electromate.com/db_support/downloads/GM8724S017.pdf here]]. Originally, our motor did not use a gear-head to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

File:Butterfly Circuit.jpg

2010-03-18T07:16:19Z

WilliamFan:

Butterfly Rolling Manipulation

2010-03-18T07:15:03Z

WilliamFan: /* Parts List */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
[[Image:Butterfly Circuit.jpg|thumb|Butterfly Circuit.]]
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8724S017 24V motor was chosen for the apparatus. Information for the motor can be found [[http://www.electromate.com/db_support/downloads/GM8724S017.pdf here]]. Originally, our motor did not use a gear-head to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

ME 333 final projects

2010-03-18T07:06:46Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=1.3|thumb|Butterfly Project at Mechatronics Fair]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=dtYv3qNz_LI here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:06:10Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=1|thumb|Butterfly Project at Mechatronics Fair]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:05:48Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=1.5|thumb|Butterfly Project at Mechatronics Fair]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:05:34Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=3|thumb|Butterfly Project at Mechatronics Fair]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:05:24Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=5|thumb|Butterfly Project at Mechatronics Fair]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:04:57Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=5|thumb|150px]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:04:45Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upright=2|thumb|150px]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

ME 333 final projects

2010-03-18T07:03:21Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|upside=2|thumb|150px]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

File:Butterflyteampic.jpg

2010-03-18T07:02:33Z

WilliamFan:

ME 333 final projects

2010-03-18T07:01:53Z

WilliamFan: /* Butterfly Rolling Manipulation */

See the '''[[ME 333 end of course schedule]]'''.

Final projects for ME 333 in years 2000-2007 can be found
'''[http://lims.mech.northwestern.edu/~design/mechatronics/ here]'''.

__TOC__

== ME 333 Final Projects 2010 ==

=== [[Sample Project Title]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

You can copy and paste this wiki code to start your wiki page (but don't erase this code). Then replace this text with your own. A few sentences describing what your project does, with a link to a youtube video. Look at other final project wiki pages for ideas, but see [[ME 333 end of course schedule]] for more information on what should be included on your wiki page.

 

=== [[Furuta Pendulum]] ===

[[Image:Picture 1.png|thumb|150px|Furuta Pendulum|right]]

The Furuta pendulum, so named because it was first developed by Katsuhisa Furuta, is a rotational inverted pendulum. In other words, the horizontal arm, which rotates in the horizontal plane, drives the movement of the vertical arm, which is free to rotate in the vertical plane. Out objective was to build a Furuta pendulum that would hold the vertical arm up, as you can see from the [http://www.youtube.com/watch?v=7DtFLKgNUk4 demonstration video].

 

=== [[Music from the Heart -- Music Suit]] ===

[[Image:Music from the heart overview.jpg|thumb|150px|The "music suit" on James, with heart rate detector on his finger.|right]]

This project attempted to create a natural form of musical expression by connecting sensors to the body. Six tilt switches were attached to the wrist, ankles, and shoulders, each controlling a single pitch from the [http://en.wikipedia.org/wiki/Pentatonic_scale pentatonic scale]. The heart beat was obtained using [http://en.wikipedia.org/wiki/Photoplethysmograph photoplethysmography] on the user's finger, and this signal was used to strike a drum in sync with the heart beat.

For a video demonstration, click [http://www.youtube.com/watch?v=YyipByy7m6I here].

 

=== [[Conservation of Angular Momentum Locomotion Robot (Fluffbot)]] ===

[[Image:Isometric view of Fluffbot guts.jpg|thumb|150px|The Fluffbot without Fluff.|right]]

Cute fluffy robot that uses conservation of angular momentum to move forward and backward. The robot's momentum wheel accelerates in the floor-plane. The robot's net angular momentum must remain zero-- a steering wheel guides the Fluffbot to accelerate in the opposite direction. This moves the robot forward in a curved path. The momentum wheel and steering wheel then change direction of acceleration. This repeated process moves the Fluffbot forward in a sinusoidal path.

 

=== [[Differential Drive Mobile Robot]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]

The goal of this project was to create a small differential drive mobile robot that would act as a low cost replacement for the popular E-Puck Robot. The robot uses hybrid stepper motors to allow it to track its position through odometry, has a laser cut acrylic chassis for easy replication and replacement, and a 1500 mAh, 13.2V battery pack for long run time. The robot also uses the NU32 board for its control logic and a XBee chip for communication.

 

=== [[Ferrofluid Art Display]] ===

[[Image:Persistence of Vison Display|thumb|150px|Place holder text for caption .|right]]

A little blurb about our Ferrofluid Art Display will go here. Just a few sentences talking about blah blah lkasjdfal hfalsdjh.

 

=== [[Can Launching Fridge]] ===

[[Image:27_Fridge.jpg|thumb|150px|Project photo caption.|right]]

The goal of the can launching fridge was to create a fridge that would, when initiated by either a remote control or a wired push button, automatically load, aim, and fire a can to multiple predetermined locations. The fridge uses a combination of stepper motors, a DC motor, and solenoids to create the ultimate mix of convenience, fun, and refreshment.

 

=== [[High Speed Motor Control]] ===

[[Image:2dofArmSetUp.jpg|thumb|150px|Project photo caption.|right]]
The project suggested was to design a system for high speed motor control using the PIC 32. To demonstrate the motor control, a two degree of freedom (2-DOF) parallelogram robot arm was designed to follow paths specified in a MATLAB gui.

 

=== [[Variable Frequency Electrosense]] ===

[[Image:TR_JP_PP-sensor.jpg|thumb|150px|Variable Frequency Electrosense|right]]

Our objective was to build upon existing research being done at Northwestern utilizing Electrosense technology by testing if information can be derived from varying the emitter frequency. We sought to send sinusoidal waves at discrete frequencies between 100 Hz and 10 kHz and to read in the sensed wave using a PIC 32’s ADC. We then sent the gathered information to a PC for plotting and analysis. By mounting the sensor on a one dimensional linear actuator we are able to gather additional data about objects and perform object detection and identification algorithms. While our initial results have revealed exciting trends, farther research is necessary before any significant conclusions can be made. A [http://www.youtube.com/watch?v=PJY097L2m1M video] of the project is available on YouTube.

 

=== [[Remote Controlled Wiitar]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
This project uses an array of solenoids to depress stings on the neck of a guitar. A motor over the strings of the guitar turns an arm which strums the instrument, playing the chord depressed by the solenoids. The system is controlled by a Wii Remote.

 

=== [[6-DOF PPOD]] ===

[[Image:Persistence of Vison Display|thumb|150px|Project photo caption.|right]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS).

 

=== [[Butterfly Rolling Manipulation]] ===
[[Image:Butterflyteampic.jpg|right|thumb|150px]]
The Butterfly emulates contact juggling by the stabilization of dynamic rolling. The apparatus rolls a cylinder by rotating the "hand" using a specific trajectory and is able to move the cylinder from one side to the other without losing contact. A video of the Butterfly captured in high speed can be found [http://www.youtube.com/watch?v=hFafcjA_p7E here].

 

=== [[Haptic Gaming System]] ===

[[Image:Haptikos.jpg|thumb|150px|Haptic Robot.|right]]

An interactive gaming system that allows the user to physically feel a virtual world. The player controls the cursor by moving the red joystick. Two games were created to test the feedback system. The first is a side-scroller in which you avoid hitting moving blocks. The second involves feeling out the virtual shape with nothing other than a blue position dot and a blank screen.

 

== ME 333 Final Projects 2009 ==

=== [[Mozart's Right Hand]] ===
[[Image:mrh_box.JPG|thumb|150px|Mozart's Right Hand|right]]
Mozart's Right Hand is a musical instrument capable of playing two full octaves of the [http://en.wikipedia.org/wiki/Diatonic_scale Diatonic Scale.] The user wears a glove on his right hand and uses motions of the hand and fingers to create different notes that are played with a speaker. The pitch of the note is controlled by the orientation of the user's hand as he rotates it ether from the wrist, the elbow, or the shoulder. The LCD on the front of the box tells the user the pitch that corresponds to his or her current hand orientation. When the user touches together his thumb and index finger, the speaker plays the tone. A [http://www.youtube.com/watch?v=vec-W4QeHQU video] of Mozart's Right Hand in action is available on YouTube.

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Persistence-of-Vision Display]] ===
[[Image:Persistence of Vison Display|right|thumb|150px]]
This is a fully customizable display implemented using the concept of Persistence of Vision. User-specified images (and even moving images) were displayed by rotating a column of LEDs at speeds faster than 300rpm. Each individual LED was modeled as a row of pixels. Conversely, the rotational position of the panel of LEDs represented the pixel columns of the display; the time interval and rotational speed determined the width of the pixel columns.

 

=== [[Rock Paper Scissors Machine]] ===
[[Image:rps whole thing.JPG|thumb|150px|Rock Paper Scissors Machine|right]]
A machine that will play a fully functioning, intuitive game of [http://en.wikipedia.org/wiki/Rock-paper-scissors Rock/Paper/Scissors] (abbreviated as RPS) with a user. The machine is represented by a human-like hand, capable of seperate and independant wrist, arm, finger and thumb motion. The players' hand goes into a glove equipped with flex sensors, which wirelessly transmits data to the machine based on what the player chose. The machine then reads this data, randomly chooses a throw of its own, and displays what the machine threw, what the human threw, total win/loss/tie info, and winner/loser both on an [http://en.wikipedia.org/wiki/Lcd LCD] screen and in the form of a thumbs up/down/side motion. Video of the machine in action can be found [http://www.youtube.com/watch?v=xbLNBSTTrcE here.]
 

=== [[Three-speaker Chladni Patterns]] ===
[[Image:chladni_660hz|right|thumb|150px]]
This project uses three speakers to generate shapes on a circular aluminum plate depending on which frequency the speakers are playing at. Once the speakers hit a resonant frequency of the plate, salt migrates to the nodes (zero amplitude) regions of the plate to form distinct patterns.
 

=== [[Basketball]] ===
[[Image:Mechatronics2009Bball|right|thumb|150px]]
This project consists of a throwing arm propelled by a Pittman motor is mounted on a turntable and throws the ball into the "hoop." The hoop is wrapped in reflective tape and an IR emitter, receiver pair is used to sense where the IR is reflected most (the hoop with highly reflective tape). An ultrasonic sensor then pings the hoop for the distance of the hoop. With this information, the arm is able to "make a basket." A video can be found [http://www.youtube.com/watch?v=Y466dzP-qiY here].
 

=== [[Robot Drummer]] ===
[[Image:Robot_Drummer.jpg|thumb|400pix|right|Robot Drummer]]
The Robot Drummer is a device that demonstrates high-speed motor control by being able to drum when given commands. Through an RS232 cable, Matlab sends commands to a "master" PIC. The master then sends the commands to two "slave" PICs through I2C communication. The slaves take the commands and implement PID control of the motors.
 

=== [[Automated Fish Refuge]] ===
[[Image:Entire Fish Refuge|right|thumb|200px]]
The automated fish refuge allows for the controlled movement of a fish refuge with the goal of recording specific behavior. The mechanical design is completely adjustable and allows adjustable degrees of oscillating movement and orientation of the refuge. The program is primarily in MATLAB for ease of use and the velocity profile can be a sine, square, triangle, or any function that the user inputs. [http://www.youtube.com/watch?v=wGOKujMhN88 Check out the video!]

 

=== [[Marionette]] ===
[[Image: MarionettePicForIntro.JPG|right|thumb]] The Marionette Project focused on using RC Servos to make a puppet that would do a dance with the press of a button. There were 5 different dances programmed for the marionette, showcasing different styles of movement. The movement had 2 degrees of freedom thanks to using 5 bar linkages and 2 RC servos for each arm. Two more RC Servos were used on the back of the marionette to create the appearance of leg movement. The movements included a Hula dance, Jumping Jacks, and even some moves right out of Saturday Night Fever.

 

=== [[Monkeybot]] ===
[[Image:monkeybot_pic|thumb|right|200px|Monkeybot]]
The monkeybot is a swinging robot capable of moving side to side and climbing. It consists of a two link, double pendulum system with an electro-magnet on each end. At the pivot is a DC motor, which provides an input torque and allows the swinging system to gain energy and climb. Check out the video of the monkeybot climbing [http://www.youtube.com/watch?v=TA2VcH_GDJ0 here] and a later brachiation video [http://www.youtube.com/watch?v=0hfwJEVQyeQ&feature=related here].
 

=== [[PPOD-mini: 6-DOF Shaker]] ===
[[Image:PPOD_mini.JPG|thumb|200x200 px|right|PPOD-mini 6-DOF Shaker]]
The PPOD-mini is a miniaturized version of the Programmable Part-feeding Oscillatory Device ([http://lims.mech.northwestern.edu/projects/frictioninducedforcefields/index.htm PPOD]) found in the Laboratory for Intelligent Mechanical Systems (LIMS) at Northwestern. The PPOD-mini utilizes six speakers that act like actuators. The speakers are connected to a acrylic plate via flexures of tygon and iron. In its current implementation, the phase of the speakers can be controlled independently, giving the device six degrees of freedom. The movement of objects placed on the acrylic plate can be controlled by changing the phases of the speakers.

 

=== [[Automated Xylophone]] ===
[[Image:AutomatedXylophonePicture1.jpg|thumb|200x200 px|right|Automated Xylophone]]
The Automated Xylophone controls several solenoids which hit various pitches on an actual xylophone based on the note selected. The device has two main modes: using the keypad, a user can choose to either play notes in real time or store songs to be played back later. A video of the Automated Xylophone playing in real time mode can be found [http://www.youtube.com/watch?v=_ubpAEyq9kg here].

 

=== [[Vision-based Cannon]] ===
[[Image:SM_Gun_Camera_PIC_Setup.JPG|thumb|200x200 px|right|Vision-based Cannon]]
This project uses a webcam and Matlab to analyze an image and direct a modified USB Missile Launcher to fire at targets found in the image.

 

== ME 333 Final Projects 2008 ==

=== [[IR Tracker]] ===

[[Image:IR_Tracker_Main.jpg|right|thumb|200px]]

The IR Tracker (aka "Spot") is a device that follows a moving infrared light. It continuously detects the position of an infrared emitter in two axes, and then tracks the emitter with a laser. [[Media:MT_MS_AZ_TrackerVideo.mp4|See Spot Run.]]

'''Chosen the OUTSTANDING PROJECT by the students of ME 333.'''

 

=== [[Robot Snake]] ===
[[Image:HLSSnakeMain.jpg|right|thumb|200px]]

This remote control robotic snake uses servo motors with a traveling sine wave motion profile to mimic serpentine motion. The robotic snake is capable of moving forward, left, right and in reverse.

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake]

Featured on [http://blog.makezine.com/archive/2009/03/well_documented_robotic_snake.html Makezine.com].
 

=== [[Programmable Stiffness Joint]] ===

[[Image:SteelToePic2.jpg|thumb|200px|The 'Steel Toe' programmable stiffness joint|right]]

The Programmable Stiffness Joint varies rotational stiffness as desired by the user. It is the first step in modeling the mechanical impedance of the human ankle joint (both stiffness and damping) for the purpose of determining the respective breakdown of the two properties over the gait cycle.

 

=== [[Magnetic based sample purification]] ===

 

=== [[Continuously Variable Transmission]] ===

[[image:CVT_system.JPG|thumb|200px]]

This prototype is a proof of concept model of a variable ratio transmission to be implemented in the 2008-2009 Formula SAE competition vehicle. The gear ratio is determined by the distances between the pulley halves which are controllable electronically.

 

=== [[Granular Flow Rotating Sphere]] ===
[[Image:Team-21-main-picture.JPG|right|thumb|200px]]
This device will be used to study the granular flow of particles within a rotating sphere. The sphere is filled with grains of varying size and then rotated about two different axes according to a series of position and angular velocity inputs.

 

=== [[Vibratory Clock]] ===

[[Image:Vibratory_Clock.jpg|right|thumb|Vibratory Clock|200px]]

The Vibratory Clock allows a small object to act as an hour "hand" on a horizontal circular platform that is actuated from underneath by three speakers. The object slides around the circular platform, impelled by friction forces due to the vibration. [http://www.youtube.com/watch?v=KhgTNCfdwZw Check it out!]

 

=== [[WiiMouse]] ===

[[Image:HPIM1027.jpg|right|thumb|200px]]

The WiiMouse is a handheld remote that can be used to move a cursor on a windows-based PC, via accelerometer input captured through device movement.

 

=== [[Intelligent Oscillation Controller]] ===

[[image:ME333_learning_oscillator.jpg|thumb|200px]]

This device "learns" a forcing function that is applied to a spring and mass system to match an arbitrary, periodic acceleration profile.

 

=== [[Baseball]] ===

[[Image:Baseball_Playfield.jpg|Sweet Baseball Game|right|thumb|200px]]

An interactive baseball game inspired by pinball, featuring pitching, batting, light up bases and a scoreboard to keep track of the game.

 

=== [[Ball Balancing Challenge]] ===

[[Image:Ballbalancechallenge.JPG|right|thumb|200px]]

An interactive game involving ball balancing on a touchscreen with touchscreen feedback and joystick action.

Butterfly Rolling Manipulation

2010-03-18T06:58:13Z

WilliamFan: /* Motor */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8724S017 24V motor was chosen for the apparatus. Information for the motor can be found [[http://www.electromate.com/db_support/downloads/GM8724S017.pdf here]]. Originally, our motor did not use a gear-head to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T06:57:24Z

WilliamFan: /* Motor */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==
A Pittman GM8724S017 24V motor was chosen for the apparatus. Information for the motor can be found [[http://www.electromate.com/db_support/downloads/GM8724S017.pdf|here]]. Originally, our motor did not use a gear-head to reduce backlash. However, this continuously burned out our H-Bridges, so a motor with a 19.5:1 gear-head ratio was selected to provide additional torque.

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T06:47:39Z

WilliamFan: /* Parts List */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*5k potentiometer (1)
*100 ohm resistor (3)
*2.2 kohm resistor (1)
*3.3 kohm resistor (1)
*0.1uF capacitor (5)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T06:33:40Z

WilliamFan: /* Parts List */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==
*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[PIC RS232| RS232 cable]]
*[[PIC32MX: Parallel LCD|HD44780 LCD]]
*0.33uF capacitor
*0.01uF capacitor
*5k potentiometer (1)
*120 ohm resistor (2)
*0.1uF capacitor (6)
*1uF capacitor (2)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*100k ohm resistor
*Pittman GM8724S017 24V motor
*Protoboard/breadboard

==Circuit Diagram==
[[Image:ButterflyCircuitDiagram.jpg|upright=5|thumb|center|Butterfly Circuit Diagram.]]

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Conservation of Angular Momentum Locomotion Robot (Fluffbot)

2010-03-18T06:28:23Z

WilliamFan: /* Electronics */

[[image:Fluff_Bot_1.jpg|right]]

== Overview ==

Flufbot uses conservation of angular momentum to move forward or backward, by controlling the acceleration of a momentum wheel and the angle of a steering wheel.

==Team Members==

[[image:2010-25-Johnson-Pentelovitch-Yu.jpg|thumb|400pix|right|Johnson - Pentelovitch - Yu]]

*Tyler Johnson - Mechanical Engineer - Class 2011
*Noah Pentelovitch - Mechanical Engineer - Class 2010
*Ren Chung (RC) Yu - Electrical Engineer - Class 2010
 

== Concept Overview ==

[[image:Fluffbot_Concept.jpg|thumb|700pix|right|Fluffbot Motion]]

Instead of using motors to directly drive its motion forward, Fluffbot uses the basic principal of conservation of angular momentum. When an object with a high moment of inertia is accelerated about an axis, angular momentum in the direction of motion is immediately created. When this happens, angular momentum in the opposing direction is also produced. The resulting motion from this "reaction" momentum can be transferred to ground through a rigid fixture, or this resulting motion could be controlled and channeled into a desirable form as shown with Fluffbot.

When the large flywheel on Fluffbot accelerates clockwise in the horizontal plane, the body attempts to conserve the zero angular momentum of the system by rotating around the same axis in a counter clockwise direction. Motion forward or backward by Fluffbot is made possible by the steering of the front wheel. There are three conditions for the steering wheel to be in, and three corresponding effects:

1) Wheel is aligned straight ahead - In this scenario, friction between the front wheel and the the ground prevent any rotation along the robot's main axis of rotation. Any acceleration of the momentum wheel in this arrangement will result in no movement of Fluffbot.

2) Wheel is turned to the left - When the momentum wheel accelerates in a clockwise direction, the chassis will attempt to rotate to the left. Because the front wheel is turned to the left, a portion of this rotation will be allowed to occur around a pivot point perpendicular to the direction the wheel is pointed. This gives the overall effect of turning Fluffbot to the left and moving it slightly forward. If the momentum wheel were to accelerate in the opposite direction (counter clockwise) while the front wheel is steering left, the result would be to turn Fluffbot to the right and send in moving backward.

3) Wheel is turned to the right - This exhibits the same behavior as when the front wheel is turned to the left, however, the direction of rotation for the momentum wheel and the chassis are reversed.

In order to control the motion of Fluffbot and to send it in a straight direction, the momentum wheel accelerates back and forth sinusoidally as the front wheel turns left to right with the same sinusoid. To reverse the direction that Fluffbot travels, simply put the front wheels control wave 180˚ out of phase with the control wave for the momentum wheel. Fluffbot is also able to steer left and right by controlling the amplitude and range of the front steering wheel.

 

== Mechanical Design ==
[[image:Uncovered_Bot.jpg|thumb|right|Inside Fluff Bot]]
The Fluffbot has all of its circuitry and mechanical components confined to a single chassis. The chassis is an arrow shape and is mounted on three wheels attached to the bottom of the chassis. The two rear wheels are fixed, while the front wheel is free to rotate and is mounted on a fork and coupled to a servo, which controls its turning angle. A momentum wheel is fixed underneath the center of the chassis to a motor which is mounted on top. All circuitry and power sources are mounted on the top of the chassis as well.

Mechanically, the Fluffbot is designed for minimum chassis weight and maximum torque generated by the momentum wheel. The momentum wheel is mounted directly in the center of the three wheels so that the torque is distributed evenly. The wheels use press-fit ball bearings mounted on fixed axles to achieve minimum friction when rolling. The front-wheel fork is mounted to the chassis through a ball bearing to reduce frictional force on the servo motor.

===Parts List===

*'''Motors:''' Futaba S3004 standard ball bearing RC servo motor, Mechatronics Lab - Pittman GM8712G708-R3 Motor 19.5:1 gear head, Mechatronics Lab
*'''Wheels:''' Machined from Aluminum 2" 6061 rod, McMaster part# 8974K711
*'''Momentum Wheel:''' Machined from 6" Aluminum 6061 rod, machine shop stock
*'''Tires:''' Shop Stock rubber wheel coverings
*'''Wheel Fork:''' Machined from aluminum 6061 rod, McMaster part# 8974K711
*'''Wheel Fork Bearing:''' Steel, flanged open ball bearing, 1/4" ID, 11/16" OD, McMaster part# 6383K213
*'''RC Servo-Shaft Coupler:''' Split clamp to Futaba S3004 coupler, ServoCity.com
*'''Chassis:''' laser cut from 1/4 inch 12"x12" clear acrylic
*'''Axels:''' 1/4" tapered dowels
*'''Wheel Bearings:''' 3 x Open steel ball bearings, 1/4" ID, 7/8" OD, 1/4" thickness, McMaster part# 6383K14
*'''Fasteners:''' 10-32 set screw for securing the momentum wheel to the motor, 4-40 round-head screws for securing motor to the chassis
*'''Velcro:''' To attach battery packs and housing to the chassis
*'''Adhesives:''' Acrylic Epoxy for Servo Holder, Superglue for rear wheel mounts
*'''Power Source:''' 2 x 9.6 V, 2200 mAh, NI-MH, Powerizer rechargeable battery

==== Chassis ====

The base of the chassis is made from a sheet of 1/4 inch clear Acrylic. It needed to be large enough to hold the motors, two batteries, and two circuit boards. In order to reduce the weight of the design, the base was cut into a triangle with wheels to be placed at each corner. Four small holes were cut at the front and at the middle of the base to allow the motor to be secured, and one larger hole was cut for a bearing to be pressed into place for the front steering wheel. [[Media:Dimensioned_Drawing_of_Chassis.pdf|Dimensioned Drawing of Chassis]]

==== Steering Assembly ====

[[image:Servo_and_Fork_Detail.jpg|thumb|right|RC Servo Attachment and Front Wheel Fork]]

The front wheel was attached to the steering servo through a machined aluminum fork. The fork design was used (as opposed to a one-sided mount) so that the axis of rotation for the front wheel could be directly centered above the centerline of the wheel with relative ease.

The Futaba RC servo used for steering the front wheel was held in place by the servo-shaft coupler and by two pieces of acrylic. The servo was light enough that it could be supported by only the coupler. Two vertical pieces of acrylic prevented the servo from rotating as it turned the front wheel. A small piece of electrical tape kept the servo from backing off of the coupler while Fluffbot was operating. [[Media:Dimensioned_Drawing_of_Steering_Fork.pdf|Dimensioned Drawing of Steering Fork]]

==== Momentum Wheel ====

[[image:Momentum_Wheel.jpg|thumb|right|Angular Momentum Wheel]]
The momentum wheel is design specifically to increase the torque on the body. This was done by machining the wheel so that there was more weight on the outside of the wheel. The momentum wheel is made from Aluminum 6061. The shaft in the center of the momentum wheel connects to the shaft of the motor using a set screw. The motor connector shaft and the momentum wheel were made as one piece to increase rigidity and assure that the momentum wheel would be perfectly parallel to the chassis. The momentum wheel weighs about 1.3 lbs, which makes the torque on the motor above its maximum continuous torque rating. We felt that this would be alright because the motor is not running continuously at a high speed, but rather is accelerating and decelerating sinusoidally. The motor is also not running at maximum rpm.
[[Media:Momentum_Wheel_Dimensioned_Drawing.pdf|Dimensioned Drawing of Momentum Wheel]]

==== Wheels ====
[[Image:RY_NP_TJ_Wheel_with_Bearing.jpg|thumb|right|Wheel with Ball Bearing]]
The wheels we used were specially machined out of Aluminum 6061 to fit treaded rubber tires we found in the machine shop. Aluminum was used instead of preformed plastic wheels because we could precisely machine the wheels to fit the design of the Fluffbot, rather than needing to design the Fluffbot around the wheels we had available. The wheels were designed to fit ____ ball bearings. The ball bearings were press fit into the center of the wheel. We used ball bearings so that the wheels would spin with minimal friction and thus less energy would be required to move the Fluffbot. [[Media:Dimensioned_Drawing_of_Wheels.pdf|Dimensioned Drawing of Wheels
]]

==== Battery and Electronics ====

The batteries and circuit boards were attached to the top of the chassis using Velcro. The configuration of the batteries as well as the placement of the circuit boards are intentional, concentrating the majority of the weight around the center of hte momentum wheel and also so that different housing (read: stuffed animals) could be easily placed around the Fluffbot.

==== Fluffy Housing ====

[[Image:Fluffbot_with_Seal_Housing.jpg|thumb|right|Fluffy Housing]]
The Fluffbot receives its name from the fluffy stuffed animals that ride atop it and that the Fluffbot imitates by its motion. For this version of the Fluffbot a seal was used to house the mechanical structure and electronics. The seal is split in two and attached to the chassis by Velcro. There is a piece of sheet metal that is bent and attached with Velcro to the upper part of the seal so that it will maintain its structure.

==== Mechanical Debugging ====

'''Bearings are coming out of rear wheels:''' Re-machine wheels using a boring bar for the through-hole for the bearings. While boring out hole, check dimensions of the bearing being used and take small cuts, measuring after each pass, to assure that the hole diameter precisely matches that of the bearing.

'''Servo comes loose from servo coupler:''' Machine a set screw hole through the part of the coupler connecting to the servo and add a set screw to keep the servo in place

== Electronics ==
====Parts List====

*[[Introduction to the PIC32|PIC32 NU32 Board]] + PIC USB cable
*[[XBee Interface Board|XBee Interface Board]] (2)
*[[PIC RS232| RS232 cable]]
*LM7805C 5V regulator (2)
*0.33uF capacitor
*0.01uF capacitor
*LM338T adjustable voltage regulator (2)
*5k potentiometer (2)
*120 ohm resistor (2)
*0.1uF capacitor (6)
*1uF capacitor (2)
*L298N H-bridge
*14N002 diodes (4)
*LS7083 decoder
*100k ohm resistor
*Pittman GM8712G708-R3 24V motor
*Futaba S3004 RCservo motor
*Protoboard/breadboard

====Electronics On Fluffbot====
[[image:Fluffbot_Electronics_Block_Diagram.jpg |thumb|400px|Electronics Block Diagram|right]]

A 24V DC motor is used to control the momentum wheel. A RCservo motor is used to control the steering angle. An XBee Board is used to communicate between the Fluffbot and a PC.
[[image:Fluffbot_Circuit_Boards.jpg |thumb|300px|Fluffbot Circuitry|right]]
The electronics block diagram (right picture) shows how each circuitry block connects to each other. The following links illustrate how each individual circuitry block is built:
*[http://www.national.com/mpf/LM/LM78L05.html#Overview LM7805 5V regulator circuitry].
*[http://www.national.com/mpf/LM/LM338.html#Overview LM338T adjustable voltage regulator circuitry] for 18V and 3.3V.
*[http://www.datasheetcatalog.org/datasheet/SGSThomsonMicroelectronics/mXxwur.pdf L298N H-bridge circuitry].
*[http://hades.mech.northwestern.edu/images/f/fd/Motor_Encoder_circuit.pdf LS7083 decoder circuitry]. Note that our circuitry for the H-bridge is not the same as the one at this link.

 

====Electronics At Computer====
The second XBee Interface Board is connected to a computer using the RS232 cable. This enables the user to communicate wirelessly in real-time to the Fluffbot.

== Code ==
There is a PIC32 code, compiled using MPLAB, as well as a Processing code. Download them: [[Media:Fluff_bot_PIC_Code.zip|PIC code]], [[Media:Fluffbot_Processing.zip‎|Processing code]].

The code does three things:

1) Sets motion parameters.

2) Controls acceleration and direction of the momentum wheel.

3) Controls angle of the steering wheel.

====1) Sets motion parameters====

Depending on the "type" of seal chosen, Fluffbot exhibits different styles of motion. The styles of motion are changed by changing the maximum angle of the steering wheel (amplitude) and by changing the rate at which the momentum wheel and steering wheel change direction (frequency).

There are three motion styles to choose from:
*Seal on land (medium amplitude, high frequency)
*Seal in water (low amplitude, medium frequency)
*Seal on ice (high amplitude, medium frequency)

Steps to change motion parameters:
*From a computer, using a Processing GUI, the user chooses between seal on land, in water, and on ice. The users choices are transmitted wirelessly to the Fluffbot.
*In the PIC code: the UART 2 interrupt handler receives the instructions, and changes amplitude and frequency.
*The function setAnimalParameters() takes this new information, and changes Fluffbot's motion accordingly.

====2) Controls acceleration and direction of the momentum wheel====

The momentum wheel accelerates in a sinusoidal motion. The PIC controls uses PD control to control the acceleration. (You'll see in the code that we use speed control, but controlling speed will effectively control acceleration.)

The code controls acceleration with four steps:

*Sets a target speed "set_speed", based on a sinusoid generated in the setAnimalParameters() function.
*Gets actual speed data from encoders on the momentum wheel motor, with the getActualSpeed() function.
*Calculates the error between set speed and actual speed, with the calculateError() function.
*Sets PWM to help decrease the error, with the setPWM() function.

====3) Controls angle of the steering wheel====

The angle of the steering wheel determines whether the Fluffbot is going forward or reverse, and turning left or right.

There are four motion directions to choose from:
*Forward. Momentum wheel acceleration and steering wheel angle out of phase by 180 degrees. Equivalently (and as in the code), the steering wheel angle leads the momentum wheel speed by pi/2.
*Reverse. Momentum wheel acceleration and steering wheel angle in phase phase. Equivalently (and as in the code), the steering wheel angle leads the momentum wheel speed by 3*pi/2.
*Left, and 4) right. The variable middle_servo changes, so that the steering wheel angle changes about an angle leftwards or rightwards.

Steps to change direction parameters:
*From a computer, using a Processing GUI, the user chooses between forward, reverse, left, or right. The users choices are transmitted wirelessly to the Fluffbot.
*In the PIC code: the UART 2 interrupt handler receives the instructions, and changes the phase and middle_servo.
*The function setAnimalParameters() takes this new information, and changes Fluffbot's direction accordingly.

== Results ==

Overall, the robotic snake was successful.

Initially, the mechanical design included a single wheel mounted in the center of the pvc pipe. However, the motion of the snake was very difficult to control because the robotic snake became unstable very easily. As a result, the chassis was built to include two wheels, as discussed in the mechanical design section, in order to provide stability which made the robot easier to control.

Wireless control from a laptop allowed easy demonstration of the snakes capabilities, and allowed others to easily control its movement.

The final robotic snake can be seen in action here.

[http://www.youtube.com/watch?v=Sb8WqaLX1Vo Video of the robot snake without housing]

[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake with housing]

== Next Steps ==

Due to the short amount of time in which the Fluffbot was designed, built and programmed, there was not enough time for optimization and iteration. Thus, there are many areas in which the Fluffbot could be improved with future work.

==== Position Sensors ====
Sensors could be added to the robot to allow it to know its position. this could be accomplished by adding encoders to the front wheel to determine the distance the Fluffbot has moved from its initial position. It would then be possible to map the Fluffbot's trajectory as well as collect data about its speed and efficiency.

==== Obstacle Avoidance ====
By adding optical sensors to the Fluffbot we could program it to automatically avoid obstacles. This would most likely use an override function that would supersede the command coming from the user.

==== High Torque Servos ====
High torque servos would enable the Fluffbot to move more quickly because the front wheel would be able to turn at a higher frequency.

==== Hand-held Controller ====
By linking the control of the Fluffbot to a handheld controller a user could more easily interact with the Fluffbot and control it because they wouldn't need to be staring at a GUI on a computer to control its behavior.

==== Wall-Riding ====
The initial scope of the project included giving the robot the ability to ride on a vertical wall. While this was not a possibility for us in the time frame allotted, a future team may be able to build on our design to enable dynamic motion using a momentum wheel along a vertical surface. This may be possible by using neodymium wheels to attach the robot to a metal wall.

==== Housing ====
The Fluffbot does not currently have a housing that protects the electronics on the chassis. A housing would allow for easy attachment and detachment of various animal shells and would also prevent the stuffed animals from contacting the hot electronics and making them heat up even faster. Air vents could also be added to the housing to allow for heat to dissipate from the electronics.

== References ==

Ma, Shugen. "Analysis of creeping locomotion of a snake-like robot." ''Advanced Robotics'' Vol 15, No 2 (2001): 205-6.

Saito, Fukaya, Iwasaki. "Serpentine Locomotion with Robotic Snakes". ''IEEE Control Systems Magazine'' (Feb 2002): 66, 72-73.

Butterfly Rolling Manipulation

2010-03-18T06:23:10Z

WilliamFan: /* Circuit Diagram */

Butterfly Rolling Manipulation

2010-03-18T06:22:59Z

WilliamFan: /* Circuit Diagram */

Butterfly Rolling Manipulation

2010-03-18T06:22:44Z

WilliamFan: /* Circuit Diagram */

File:ButterflyCircuitDiagram2.jpg

2010-03-18T06:20:00Z

WilliamFan:

File:ButterflyCircuitDiagram.jpg

2010-03-18T06:19:48Z

WilliamFan: uploaded a new version of "Image:ButterflyCircuitDiagram.jpg"

Butterfly Circuit Diagram

File:ButterflyCircuitDiagram.jpg

2010-03-18T06:10:44Z

WilliamFan: Butterfly Circuit Diagram

Butterfly Circuit Diagram

Butterfly Rolling Manipulation

2010-03-18T06:10:01Z

WilliamFan: /* Circuit Diagram */

Butterfly Rolling Manipulation

2010-03-18T05:06:32Z

WilliamFan: /* Team Members */

Butterfly Rolling Manipulation

2010-03-18T05:05:15Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|alt=From Left: Eric, Ben, Will.|]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T05:05:06Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|From Left: Eric, Ben, Will.|]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T03:56:24Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=1|From Left: Eric, Ben, Will.|]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T03:55:56Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|center|thumb|upright=1|From Left: Eric, Ben, Will.|]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T03:55:21Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=1|From Left: Eric, Ben, Will.|Center]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:55:29Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=1|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:55:08Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=1.5|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:54:45Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=2|From Left: Eric, Ben, Will.]]

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:53:22Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=2|Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:52:51Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==

Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)

[[Image:TeamButterflyPhoto.jpg|thumb|upright=2|Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:52:42Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==

Eric Bell (Mechanical Engineer, 2010)
William Fan (Mechanical Engineer, 2011)
Ben Kolodner (Mechanical Engineer, 2010)
[[Image:TeamButterflyPhoto.jpg|thumb|upright=2|Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:52:25Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=2|Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
Eric Bell (Mechanical Engineer, 2010) 
William Fan (Mechanical Engineer, 2011)
Ben Kolodner (Mechanical Engineer, 2010)
 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:51:55Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|upright=2|Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
Eric Bell (Mechanical Engineer, 2010)
William Fan (Mechanical Engineer, 2011)
Ben Kolodner (Mechanical Engineer, 2010)
 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:50:10Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|alt=Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
Eric Bell (Mechanical Engineer, 2010)

William Fan (Mechanical Engineer, 2011)

Ben Kolodner (Mechanical Engineer, 2010)
 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

Butterfly Rolling Manipulation

2010-03-18T02:49:53Z

WilliamFan: /* Team Members */

=Overview=

==Team Members==
[[Image:TeamButterflyPhoto.jpg|thumb|alt=Eric Bell (Left), William Fan (Right), and Ben Kolodner (Center).]]
Eric Bell (Mechanical Engineer, 2010)
William Fan (Mechanical Engineer, 2011)
Ben Kolodner (Mechanical Engineer, 2010)
 

=Mechanical Design=

==Parts List==

==The Hand:Butterfly Shape==

==The Mount==

==The Roller==

=Circuit=

==Parts List==

==Circuit Diagram==

==Motor==

==H-bridge disclaimer==

=Code=

=Processing=
The purpose of the processing code is to plot the actual movement of the motor against the reference trajectory. The code produces a reference trajectory based on the given equation, a constant time interval, and a k-value and produces 2000 reference points for the motor to follow. Because processing plots one data point per pixel, only every other reference point is saved into an array in the pic. At every reference point, the encoder reads the position and also records this actual position at every other reference point into a separate array. These arrays are fed from the pic into a computer using an RS232 cable when the “read data” button is pushed in the processing GUI. Processing then plots these arrays.

Processing is also used to reset the hand. By pushing the reset button in the processing GUI, processing activates an interrupt which tells the hand to reset using the light sensor and run the main code again.

<insert graph>

Based on the graphs created in processing, the PD control was very effective in controlling the motor. Minor offsets occurred consistently at the beginning and end of each run due to backlash from the motor, but the actual position was very close to the reference trajectory a majority of the time.

=Results=

=Next Steps=

File:TeamButterflyPhoto.jpg

2010-03-18T02:48:38Z

WilliamFan: