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Human In the Loop Cyber Physical Systems

Cornell Cup USA Mid-Year Review. Human In the Loop Cyber Physical Systems. Ross Desmond, Matt Dickerman , James Fleming Advisor: Taskin Padir Graduate Advisor: Dmitry Sinyukov. Challenge Definition.

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Human In the Loop Cyber Physical Systems

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  1. Cornell Cup USA Mid-Year Review Human In the Loop Cyber Physical Systems Ross Desmond, Matt Dickerman, James Fleming Advisor: Taskin Padir Graduate Advisor: Dmitry Sinyukov

  2. Challenge Definition Create a commercially viable product capable of providing handicapped individuals with the ability to live more independently and improve their overall quality of life.

  3. Scope Replace expensive LIDAR with cost-effective modular sensors Create mechanical mounts for sensor packages Develop mapping and navigation algorithms Implement motion control algorithms

  4. Proposed Solution To outfit a commercially available electronic wheelchair with the ability to navigate its environment and detect objects given a human input from a Brain-Computer Interface.

  5. Key Functionality Safe, dependable, intelligent indoor navigation Easily mountable, cost-effective, modular sensor packages Compatibility with common electric wheelchairs Adaptive control

  6. Accomplishments to Date Sensor network hub completed, testing underway Range sensor module PCB under development Mountable encoder completed, testing underway Headrest designed, pending prototype

  7. Sensor Network Hub Takes up to eight sensor module inputs, routes them over USB to main controller PCB manufactured, all traces verified, fully assembled USB routing completed, sensor routing partially completed

  8. Sensor Board Flexible, can receive up to nine sensor of different types and operating voltages Multiple power sources (external, USB, or custom interface Two communication methods (USB and custom Components and PCB ordered

  9. Mountable Motion Sensor Configurable encoder sensor directly measures wheel velocity First prototype completed Second revision underway Compatible with multiple wheelchairs

  10. Headrest Design Interchangeable sensor/processor platform

  11. Project Execution Create specifications for subtasks Brainstorm and design phase Create model and identify risk Meet to discuss feasibility Create prototype and test Review prototype and iterate

  12. Gantt Chart

  13. Risk Assessment Detailed decision diagram showing team’s train of thought to date regarding the project Outlines major decisions, as well as the reason for making them Reasons include technical challenges as well as cost, time, etc.

  14. Resource Assessment Currently within project budget of $600 (department budget limit) Not including headrest prototype Projected manufacturing and prototyping costs will bring team to edge of budget

  15. Recommendation and Next Steps Finish sensor modules, headrest, mountable encoder, test them Integrate components on existing wheelchair platform Write drivers and configure platform to fulfill project specifications

  16. Measurement of Success Wheelchair is able to map an indoor environment Wheelchair is able to navigate to a given location within an indoor environment

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