1 - Marine Robotic Systems: SCU has a mature and established program developing underwater robots (2 complete and operational with another in final development).  The following project opportunities exist, ranging from the possible development of a new and innovative ROV (Remotely Operated Vehicle) system to the development of highly capable ROV subsystems. Opportunities exist for students of all engineering majors (ME, EE, COEN, CIV); these projects are generally interdisciplinary. Students will be expected to complete the 1-unit Marine Operations class in order participate in these projects.

These project have substantial mentoring support from scientists/engineers at the Monterey Bay Aquarium Research Institute (MBARI) and within the National Undersea Research Program (U.S. Government). The team will have several opportunities to test and operate ROVs in the SCU pools, in the MBARI test tank; occasional opportunities to operate in Monterey Bay, Lake Tahoe or elsewhere will most likely be available. Depending on student interest, opportunities also exist to coordinate the development of design models with a new Integrated Design Network being developed by researchers at NASA/Ames and in the Aerospace Corporation.  Overall, significant opportunities exist to work closely with industry engineers in many different areas. These projects also have several areas that could ultimately lead to Masters-level capstone/thesis projects.  Project teams will be advised by Prof. Kitts.

Mantaris ROV: Extend the capabilities of the Mantaris ROV for operational use at depths of 2000 ft.  Work will include development of a thin-walled pressure bottle to house high voltage electronics, final mechanical/electrical/software assembly/test/integration and possible extension of subsystems (such as the gripper, the toolsled, the sampling system, tether management system, etc.) with the Mantaris vehicle, and the acquisition/development of initial dynamic sensing and position sensing systems to support advanced navigation.  Several opportunities will exist to deploy the vehicle, its subsystems, and other lab equipment in test tanks and at sea. This project has significant funding for equipment.

AUV: We are obtaining an Autonomous Underwater Vehicle (AUV) shell and are interested in initial work to develop AUV subsystems to support basic operation.  In consultation with project mentors and within the constraints of very limited funding, the team will begin development of subsystems to support initial operation and test.  Subsystems to be developed may include a thruster (possibly gimbaled), power, on-board processor, mechanical support and housings, control surfaces, and a recovery system.

Low-Cost Thruster Development (and possible incorporation into test ROVs/AUVs): We have a small amount of funding for a small group of students to develop low-cost thrusters for educational/experimental ROVs and AUVs. This project offers significant opportunity for detailed engineering analysis, design and test involving physical modeling, control systems, hydrodynamics, etc.  We are particularly interested in developing a production capability for a successful design with the intent of efficiently manufacturing 10's of thrusters and 2-3 vehicles each year for our own program as well as for external partners.  A successful project may also become the basis for an educational text on ROV technology. A Winter 2003 design study/prototype was performed as part of a graduate class, and a senior design team would be expected to review these results and to extend/improve the design in several ways. Two engineering physics students are already on this team; we seek 2 MEs interested in thruster design and design for low-cost manufacturing.  Mechatronics skills and power system design will be required (and my provide opportunity for an EE student to join the team).

2 – Assistive Technologies:  We are interested in applying the robotic, sensing, actuation and control skills of the Laboratory to the development of any of a number of systems that would assist handicapped individuals.  Current "hot topics" include an innovative approach for a "Braille display" for the blind, a computer GUI interface for quadraplegics, etc.  This project will be co-advised by Prof. Quinn (for COENs) and Prof. Krishnan (for EEs). 

3 – Renovating the First Disk Drive:  SCU's Magnetic Disk Heritage Center, led by EE Prof. Al Hoagland, has an original IBM RAMAC (Random Access Method of Accounting and Control) disk drive, the first magnetic disk drive ever produced (in the early 1950's).  Several IBM engineers are working with the MDHC staff to renovate this drive, which due to the technology available at the time has many characteristics similar to a conventional industrial robotic manipulator (with both revolute and prismatic articulation). We are seeking a small interdisciplinary group of seniors to become involved in the restoration project, to help with the detailed design/manufacture/test of replacement subsystems, and to take the lead in developing a modern control system for this device. This is a very high-profile project and will most likely involve considerable interaction with IBM engineers and with a public outreach/education effort involving exhibits, tours, press releases, etc.

4 – Spacecraft Development Projects :  SCU has a mature and established program in the development of small satellites and spacecraft systems. The following project opportunities exist, ranging from the possible development of new, simple satellite systems to the extension of existing projects/vehicles for enhanced performance. Opportunities exist for ME, EE, and COEN students; these projects are generally interdisciplinary. 

 

This project has funding for necessary equipment and materials.  The team will have several opportunities to demonstrate their capabilities to sponsors/mentors from NASA, Lockheed-Martin, Loral Space Systems, Stanford, and other collaborators; presentations at industry conferences are also possible.  Overall, significant opportunities exist to work closely with industry engineers in many different areas. The project team will be advised by Prof. Kitts.

Emerald & FASTRAC: SCU has a current, high profile, dual-satellite mission (Emerald) that is being developed to demonstrate cutting edge technology and capabilities that will allow multi-satellite clusters to collaborate and fly in formation. SCU has recently been given the opportunity to become the primary technology research organization (a position formerly held by Stanford and MIT) in order to demonstrate new aerospace technologies that include the use of a) Ultra-Wideband communication transceivers for intersatellite communication and position/orientation sensing, b) a distributed processing/data handling/software architecture, and c) new levels of autonomy and intelligent operation.  

In addition, the SCU team is collaborating with U.T. Austin on their FASTRAC satellite mission which will share many of the same capabilities that Emerald has; among other interactions, this collaboration will include the incorporation of new UT  Austin space-rated GPS receivers on the Emerald vehicle.  

We are seeking a highly motivated, interdisciplinary team to build on the work of previous SCU students by extending previous accomplishments and by initiating new and exciting design work regarding the formation sensing and control portions of this mission. Working on this team will include significant interaction with students/staff/faculty at UT Austin and Stanford University as well as with aerospace engineering mentors in the local community (to include NASA Ames, Lockheed-Martin, etc.).  Work on this project offers significant opportunity for developing conference publications; work may also lead to Masters' level capstone/thesis work.

SHARP Re-entry Vehicle Prototype: SHARP is a program aimed at developing a re-entry vehicle flight prototype in collaboration with researchers at NASA Ames Research Center.  The long-term objective of this effort is to develop an instrumented vehicle that will gather data about re-entry vehicle dynamics and leading edge heating (the NASA collaborators are developing high-temperature alloys to protect sharp leading edges on re-entry vehicles, which in turn would permit the design of highly maneuverable vehicles vastly superior to designs such as the Space Shuttle). 

Depending on the availability of funding (currently not approved), the team will design/develop/test/operate one or more functional vehicles for a potential series of balloon drops and sounding rocket flights.  On-board instrumentation will most likely include an embedded computer taking data from accelerometers, gyros, and temperature/pressure sensors.  Data will be transmitted and/or stored.  A real-time video broadcast system (already prototyped) would also be included.  A suitable structural design is required an may permit opportunities to explore composite design for aerospace vehicles.  There is also the possibility for the team to analyze and develop a real-time control system for the vehicle.  This is a very ambitious and potentially high-profile project in need of a very small, focused team capable of going well above and beyond the normal call of duty for a senior design project (note that additional credit may be possible via independent study, etc.).  The ideal team should be more than willing to join efforts to raise additional funding for this project (limited funding does exist for equipment) and to participate in industry-grade design reviews, paper publications, and presentations/exhibitions. We are attempting to recruit a team that would include 4 or 5 students from ME, EE, and COEN.  The project will be advised by Prof. Kitts.

TIP-Sat: In collaboration with Washington University in St. Louis (WUSTL), a small interdisciplinary team of SCU students has the opportunity to develop a small, simple, complete spacecraft system that will serve as a "daughtership" for the WUSTL Akoya Satellite mission. The daughtership will serve as a boom/tether endmass for Akoya; however, the team will be able to incorporate a functional payload and all relevant support systems (processor, communications, power, sensing, structure, thermal, etc.) into their vehicle.  Akoya is being funded as part of the U.S. Nanosatellite Program.

Mission Control: There are numerous opportunities to develop mission control centers, expert systems, and communication stations in support of satellite missions being run by SCU and other universities throughout the world. See #7 below.

 

 The team will have significant opportunities to work with scientists/engineers from NASA, Lockheed-Martin, and Stanford; presentations/publications at industry conferences is also possible.  This project has many of the necessary components already available, and funding exists for other development. This project also has several areas that could ultimately lead to Masters-level capstone/thesis projects and beyond.  

6 - Satellite (and Robotic) Mission Control: SCU has several existing satellite communication stations (at SCU and in Hawaii, with additional stations to be installed at Ames, at UT Austin, in St. Louis, and in Alaska) and has been selected to develop a satellite mission control center at NASA Ames Research Park.  This center will support the operation of satellites developed throughout the world by several university consortiums; it may also be used to support a NASA/Ames mission studying biology in space. 

Significant funding exists to acquire high-end workstations, to develop a professional quality operations center, and to install this equipment at NASA Ames. In addition, more than $1.5 million dollars of professional satellite operations software has been donated to the project (from Analytic Graphics, AI Solutions, Braxton Software, NASA/JPL, etc.); students will install and learn this software and will then use it to develop the command and control systems for one or more spacecraft and/or other robotic vehicles.  We seek a small team of EE/COEN students to lead this effort involving RF communications, the modeling of physical systems, diagnostic systems, GUIs, etc.

 

The team will have several opportunities to demonstrate their capabilities to sponsors/mentors from NASA, Lockheed-Martin, Globalstar, and software sponsors. Opportunities will also exist to use the mission control center system to support robotic/satellite missions being developed by Stanford, MIT, and other leading institutions throughout the world. Overall, significant opportunities exist to work closely with industry engineers in many different areas. This project also has several areas that could ultimately lead to Masters-level capstone/thesis projects and beyond.

 

Specific team projects include the following (and more):

RACE - The Global Communications Station Network:  RACE is a distributed network of radio communication stations to be used for remotely controlling robotic vehicles.  

Phase I was accomplished in the 2000-01 year by a team of 3 EE students (who won the Best EE Project for that year) and resulted in being able to remotely log into a simple HAM radio communication station via the internet (using remote control software), configure the station for single frequency communication with a remote robot, and then exchanging commands and telemetry with that robot.   Phase II was accomplished in the 2001-02 year by a team of 4 COEN and 2 ME students.  This team a) developed a web-based interface for the station, b) upgraded station equipment to support satellite communications (which included the use of a very large antenna array and dual frequency transceivers), c) installed complete stations at SCU and in Hawaii, and d) implemented a simple Web-based and database-driven station scheduling system.  A current RACE team is extending the system with an impressive groundstation reservation capability (that automates the orbit planning/station visibility calculations) and the capability to rapidly configure groundstations based on satellite requirements.

We are hoping to recruit a small team ( with some programming experience), to design and implement new capabilities into this network.  New work will/may include a) improving the internet-based interface for groundstation control, b) designing and integrating new communications equipment into the stations, c) installing new stations at new locations (Texas, St. Louis, Alaska, Ames, etc.), d) developing new, higher gain, articulating antenna arrays, etc.

Mission Control: A team will assist in the design, installation and test of new equipment for a new mission control center (main center at NASA Ames, test center at SCU).  The team will then learn the use of the software and use it to develop systems to command, analyze, and intelligently schedule/plan/diagnose activities on one or more satellites (current opportunities include several in orbit and others in development) or other robotic vehicles.

Portable, Agile, Intelligent Antennae and Communication Stations: To support the robotic field operations of the Laboratory (tracking high altitude balloons, providing satellite launch support, establishing ship-to-shore communications, etc.), we have a recurring need for a portable communication station with the ability to rapidly track moving targets (e.g, null out the motion of a boat, track an airship, automatically point to a remote station, etc). This project will require ME's, EE's and possibly COEN students (or students with embedded programming experience, etc.). This project will be co-advised with Prof. Okamoto. This project has funding and significant opportunity for field demonstrations.

7 - High Altitude Balloon System: This is a new effort to develop a low-cost high altitude balloon system (60,000 - 100,000 feet) capable of supporting research payload testing at the edge of space.  The system would include on-board avionics such as a microcontroller, transceiver, GPS, power, dynamic sensors, and efficient mechanical design for housing, release, and parachute deployment.  Thermal characterization and control is a significant challenge, the solution to which would enable long-duration flights. Flight video from the first SCU flight can be seen here.

 

A small team of ME/EE/COEN students is sought to initiate SCU's development of such systems and to work with local engineers from NASA Ames and a small start-up company in the development, test, and flight operations of these systems.  Flight opportunities include deployments at locally, in Black Rock Nevada, and in Oklahoma; possible flights from the Pacific Range in Hawaii are also possible.   

This project has available equipment and some additional funding to support development. The team will have several opportunities to demonstrate their capabilities to sponsors/mentors from NASA, several small aerospace firms, and a panel of venture capitalists.  This project also has several areas that could ultimately lead to Masters-level capstone/thesis projects.  Project teams will be advised by Prof. Kitts.

8 - Boat/Ship Autopilot - Automated Coxwain Project: A 2002-03 senior project team is completing the design of an autopilot system to serve as the coxwain in a crew shell. (See original project description here.)  We are interested in continuing this project, potentially as the next generation Automated Coxwain and/or as a more general autopilot (heading control, course control, general navigation) for an autonomous research surface vessel.  This project will require an ME, an EE, and a COEN student. The project will be co-advised by Prof. Quinn.

Specific vehicles that are available for use include:

Roverwerx: This tracked, differential drive robot is capable of moving through rugged areas, climbing stairs, picking up objects, being driven remotely via the internet, and autonomously driving to a designated location through the use of GPS. Possible extensions include implementing a range of 'driving' options (from human in the loop to fully automated navigation), demonstrating exploration of Mars (potentially using the NASA Ames Mars Terrain Simulator), etc. 

Omnibots: A current team has developed a 1st generation robot with a unique movement capability called omnidrive. This robot has control system that includes 4 automated and concurrent wheel velocity control loops as well as the choice to specify motion referenced to either the body axes or global axes.  We are seeking a team capable of extending the capabilities of this robot and developing additional vehicles to support multi-robot collaboration. These robots will in the future be the basis of an SCU robosoccer team.

Example mobility demonstrations of crabbing and rotating

Mapping Robots: A current team has developed an impressive 1st generation sonar-based mapping system using one of the Laboratory's Amigobots. We are seeking a team interested in extending the capabilities of this system through the design/implementation/testing of more sophisticated mapping algorithms and possibly the incorporation of multiple vehicles for "collaborative mapping".

10 - Aircraft Development: SCU has an 82" wingspan RC plane that has been used for flight training, remote realtime observing via an on-board camera and wireless communication system, and flight characterization via an on-board GPS system.

 

We are interested in continuing/extending this work by developing autopilot technologies (stable flight, waypoint navigation, auto-takeoff, etc.) as well as mission specific capabilities (such as environmental air sampling, etc.).  We are also potentially interested (funding permitting) in the development of new vehicles such as student-designed aircraft, RC helicopters, hovercraft, etc. Students interested in these project must have accomplished RC vehicle control skills due to the cost of the equipment being used and the risk due to poor control.

11 - Airship/Blimp Development: SCU has several indoor blimps that have been developed in previous senior design projects.  Vehicles include a conventionally-shaped 10 ft airship as well as several smaller blimps in the 3 and 5 foot diameter class.  

 

A current senior project has developed a highly-capable and agile vehicle using an 8.5 ft diameter spherical envelope in order to carry a significant amount of on-board avionics.  This vehicle is attempting to achieve 4 degree-of-freedom closed-loop control in order to support a NASA research project involving astronaut voice-control of small "assitant" space robots.

We are interested in advising a team of students capable of extending this work in either of two areas.

 

First, we hope to continue the research collaboration with NASA Ames. This would require a team to continue the development of airship subsystems to support object manipulation, improved closed-loop navigation, and environmental sensing.

 

Second, there is a significant opportunity for SCU to become a leader in experimental research involving robot formation control and collaboration.  Students interested in this notion would develop an additional 8.5 ft diameter blimp and incorporate an architecture to command a 2-airship (or more vehicles if possible) fleet in an efficient and 'high-level' way (with several automated control systems supporting the dynamic control of the vehicles).  This project has several opportunities for publishing as well as follow-up Masters level (and beyond) research.

SCU is the engineering lead of a multi-university consortium with access to several telescopes and observatories at various locations; this project has the potential to ultimately produce a truly world-class education and research resource within the astronomy and autonomous operations communities. SAINT Phase I was led by a senior design team during the 2001-02 year (this team was awarded the Best Interdisciplinary Project) and consisted of developing an remotely operated observatory prototype that included telescope pointing, camera operation, dome/shutter control, etc.  The SAINT thesis is available here.

 

Phase II will most likely extend these capabilities by a) installing the Phase I equipment in an off-campus observatory with the dome/shutter potentially designed and built by students , b) installing/integrating/adapting the electronic/software and installing it in additional observatories in Silicon Valley, in Oklahoma, and in Hawaii, c) improving and extending the software-based remote control capabilities, d) improving and extending instrumentation for unattended reactivity (such as weather sensing), e) exploring and prototyping observatory optimization strategies, f) exploring and prototyping network optimization strategies, g) bringing additional observatories and telescopes on-line within the network (which may involve the retrofit and/or development of new facilities), h) assisting with the mechanical design of one of the largest amateur telescopes ever built (in progress here in the local area). We are seeking a highly motivated team of 4-6 students to do some of these tasks.  The team would ideally include students from EE, ME, and COEN; in addition, Civil Engineering students are encouraged to join the team if the development of a new small observatory is of interest.  This team will be advised by Prof. Kitts.

13 - Remote Environmental Monitoring System: In cooperation with the SCU Environmental Studies Institute, we are interested in developing remote, self-sufficient environmental monitoring stations capable of intelligently collecting information (ranging from low-data rate sensor information to high-bandwidth video) and relaying this information to distributed researchers via the internet. Probable applications in the first year of development would include monitoring the local, endangered burrowing owl population, collecting environmental data within the open-space reserve near campus, and/or "instrumenting" SF Bay to study the region's environmental impact on that ecosystem.

14 - Fluid Process Control: Fluid mixing is a fundamental problem encountered in the Civil Engineering discipline.  We are seeking a small group of CIV and ME students to develop a mixing control system.  This project will be co-advised by Prof. Chiesa.

15 - Interdisciplinary Design Environments: With the complexity of engineering systems growing, developing computer-assisted design environments that support cost-effective design within team environments has become a significant challenge.  SCU is involved with an initiative involving NASA Ames, the Aerospace Corporation, Lockheed-Martin and Stanford University in developing a "next generation" architecture capable of supporting such activities.  An impressive operational system would be installed at the new Space Technology Center at NASA Ames Research Center.

 

We seek an interdisciplinary team of students interested in multi-disciplinary design and with experience in a variety of design analysis tools (such as Matlab, CAD, Rhapsody, and/or others), some level of programming skills (at least one member with database skills and an ability to integrate analysis package files with the database; also the ability to provide a web-interface to/from the interface), and outstanding communication skills (since this is a high-profile project that will require the team to interact regularly with world-class researchers in this field.  This work could certainly lead to research projects at the Masters level (and beyond).

16 - NETROL - An Immersive Pilot Environment:  SCU students have developed the NETROL system which allows realtime human-in-the-loop control of remote robots. This system has been demonstrated in piloting SCU underwater robots, mobile land robots, and airships.

We seek a group of students with outstanding programming skills and innovative mechanism design ideas to extend the capabilities of NETROL such that the piloting experience becomes immersive.  For example, such an environment might include a heads-up display, anthropomorphic joysticks, haptic interfaces, multi-degree of freedom platform articulation, wearable appendages, virtual reality, etc.  The sky's the limit with this project, however, the team would attempt to formulate their development effort with respect to some sort of research-oriented conceptualization - for example, there should be a hypothesis that some new twist on controlling the robot would be beneficial in some way.  Once the innovation has been implemented, the team would be asked to 'prove it' by collecting data and comparing it to some standard manner for performing the same pilot tasks.  For those interested, this particular project holds exciting possibilities in terms of developing publications/presentations of results to the research and industrial communities. In general, the project team would most likely consist of 2 or 3 students from ME, EE, and/or COEN.  The project will be advised by Prof. Kitts.

17 - WebLab:  The Laboratory has developed a wide variety of tools and software architectures supporting the control of robots through the internet.  We are interested in applying this technology to controlling "lab equipment" that could be used in SCU lab classes as well as throughout the local K-12 community.  Some simple demonstrations of this concept currently exist, and a number of local schools as well as the NASA Robotics Education Office is interested in what is possible along these lines.