My Projects
Undergraduate Thesis: Autonomous Surface Vehicle
This comprehensive project involved multiple technical improvements to enhance the vehicle's performance and reliability:
Actuator Auto-Calibration System
Developed an auto-calibration routine for the rudder control system. The rudder was controlled by a linear actuator with analog voltage feedback, which would shift based on battery voltage. The new calibration routine automatically determines the actuator's travel limits during startup, ensuring consistent operation regardless of power supply variations.
Control System Optimization
Addressed actuator response issues by implementing several improvements:
- Implemented PWM inputs to improve actuator response and improve efficiency
- Reduced overshoot and steady-state error
View a demonstration of the improved actuator performance here.
GPS Signal Processing
Enhanced the GPS input processing system. While time constraints prevented implementation of a Kalman filter, a low-pass filter was successfully implemented to reduce noise impact on vehicle response. This improvement enabled the vehicle to effectively follow simple waypoint trajectories.