Introduction

Autonomous technology is quickly emerging into the field of transportation and almost all major car companies are developing new cars with some sort of self-driving modes. For this capstone project, I looked into how autonomous vehicles operate and then attempted to build my own test platform.

My end goal was to perform a demonstration that shows how the vehicle can drive and react to some outside obstacles. My testbed also serves as an educational device for the public where they will be able to see how the vehicle operates. It also will be able to be used as a test platform, which other projects could use as a base. This is an exploration of mechanical and electrical engineering as well as computer programming. 

Research Question

Can basic autonomy be achieved in a household workshop and help demonstrate how the main components operate?

Project

Phases

Existing Mechanics

Autonomous Golf Cart

1992 Electric Club Car DS

Accelerator and Brake Pedal

Steering

Drive-By-Wire

Electronic Control Of



• Brake
• Accelerator

Drive-By-Wire

Electronic Control Of



• Steering

Autonomous Operation and Obstacle Avoidance

GPS - Use Global Positioning System, particularly real-time kinematic GPS, to locate current position and desired position

Distance Sensor - Determine distance to objects for collision avoidance

Odometry and Inertial Measurement Unit (IMU) - Use data from motion sensors, compass, gyro, accelerometer, etc. to estimate change in position

Sensors

Lat/Long - GPS

In order to use the GPS to help the vehicle drive, the distance and bearing between two sets of longitude and latitude coordinates needed to be found.

In order to do this, two formulas were used.

Haversine Formula:

Bearing Formula:

Sketches Option 1

Compile all sketches in one slide (delete this)

Final Photos (Detail)

Highlight specific details of the design (delete this)

Final Photos (Detail)

Highlight specific details of the design (delete this)

Video / GIF

Clip of final project, demonstrating how it works.

** Bonus Slide ** (delete this)

Contextual Issue

Relevance

Spruce Sauna

Passive Solar Design

Active Solar Design

Thesis

This project hopes to reduce energy consumption in living spaces by moving to a more productive heating/cooling system. I've explored this concept through various systems and formats on the different levels of the structure. The structure is designed to regulate temperature to provide comfort based on how the space is being used: gyms vs living spaces.

Design Strategy

Level 1

Level 2

Level 3

Rhino Models

Top floor with single open skylight

Offset middle floor with balcony

Basement with no windows

Addition of garage to basement

Terrace with space for pool

Site

Floor 1

Floor 2

Floor 3

Work Plan

• Create clearer drawings
• Passive systems diagram
• Do daylight studies/analysis
• Optimize based on previous studies
• Begin work on heat pattern simulation
• Build sketch model for shade studies
• Create 3d model with an understanding of materiality and building systems

Project Goals

• 3D Model
• Sets of drawings/diagrams
• Physical Prototype
• Heat Simulation

Feedback Areas

• General design feedback
• Heating systems
• Optimizing house placement for sunlight

Contextual Issue

The world is facing a climate crisis. Without a sharp decline in emissions, scientists are predicting a rise in the earth's core temperature that could have drastic effects on the future of our planet. The single largest contributor to this change is power generation. We need to find ways to lower our usage and improve the efficiency of essential systems.

Relevance

The date before irreversible damage is caused to our planet draws nearer each day. Unless our current ways of living change, the planet could be rendered uninhabitable. Due to the pandemic, most have been reconsidering their styles of living and have been looking for new inspiration. Now is the perfect time to present a new approach to living that is adapted to our ever changing climate.

Spruce Sauna

Passive Solar Design

Active Solar Design

Research Question

How can sunlight and the external environment around a structure be used to control its internal climate? 

Design Strategy

Level 1

Level 2

Level 3

Rhino Models

Top floor with single open skylight

Offset middle floor with balcony

Basement with no windows

Extended middle floor

Basement partially exposed with windows

Double sided skylight

Addition of garage to basement

Terrace with space for pool

Work Plan

• Iterate on design
• Do daylight studies/analysis
• Optimize based on previous studies
• Begin work on heat pattern simulation
• Begin work on physical model
• Complete both
• Test physical model

Project Goals

• 3D Model
• Physical Prototype
• Heat Simulation
• Physical Testing on Prototype

Feedback Areas

• General design feedback?
• What type of mentors should I be looking for?