-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathdocking.html
More file actions
150 lines (126 loc) · 8.17 KB
/
Copy pathdocking.html
File metadata and controls
150 lines (126 loc) · 8.17 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
<!DOCTYPE html>
<html>
<head>
<!--Tab Name-->
<title>Docking | Elcano Project</title>
<meta charset="utf-8" />
<meta http-equiv="X-UA-Compatible" content="IE=edge"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<!--Fav Icon-->
<link rel="icon" href="assets/favicon.ico" type="image/png"/>
<!--Link CSS File-->
<link rel="stylesheet" href="style.css"/>
<!--Link JavaScript File-->
<script src="script.js" defer></script>
<!--Link Fonts-->
<link rel="preconnect" href="https://fonts.googleapis.com">
<link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
<link href="https://fonts.googleapis.com/css2?family=Bebas+Neue&family=Inter:ital,opsz,wght@0,14..32,100..900;1,14..32,100..900&display=swap" rel="stylesheet">
<!--Link Nav Bar Menu Icon-->
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
<!--Meta Tags (Information About Website Content - Not Displayed on Website)-->
<meta name="theme-color" content="#3D99DC">
<meta name="description" content="Elcano Project">
<meta property="og:description" content="Elcano Project">
<meta property="og:title" content="Elcano Project">
<meta property="og:locale" content="en_US">
<meta property="og:image" content="assets/elf1.jpg">
<meta property="og:image:width" content="475">
<meta property="og:image:height" content="315">
<meta name="twitter:title" content="Elcano Project">
<meta name="twitter:card" content="summary_large_image">
<meta name="twitter:description" content="Elcano Project">
<meta name="twitter:image" content="assets/elf1.jpg">
<meta name="twitter:image:width" content="475">
<meta name="twitter:image:height" content="315">
</head>
<body>
<div class="max-width-container">
<div class="navbar max-width-container" id="global-navbar">
<a class="navbar-logo" href="index.html">
<img draggable="false" src="assets/elcano-logo.png" alt="Elcano Project logo.">
</a>
<div class="navbar-gradient">
</div>
<div class="navbar-links">
<a class="hover-underline" href="index.html">Home</a>
<a class="hover-underline" href="about.html">About</a>
<a class="hover-underline" href="current-work.html">Current Work</a>
<a class="hover-underline" href="docking.html">Docking</a>
<a class="hover-underline" href="simulator.html">Simulator</a>
<a class="hover-underline" href="media.html">Media</a>
<a class="hover-underline" href="links.html">Links</a>
<a class="hover-underline" href="wiki.html">Wiki</a>
<a href="javascript:void(0);" class="icon" onclick="adjustNavBar()">
<i class="fa fa-bars"></i>
</a>
</div>
</div>
</div>
<div class="content">
<div class="max-width-container">
<div class="max-width-text">
<h1>Docking</h1>
<p>Automated vehicles operate most efficiently in platoons. Platoons can increase highway capacity by two to three times and reduce fuel consumption. Smaller distances between vehicles maximize the advantages. However, if the following distance gets too small, the ride becomes unpleasantly jerky due to small speed adjustments. The Elcano Project has prototyped a physical coupling mechanism that uses springs to absorb the minor shocks of imperfectly matched velocities. The physical couple allows shrinking the following distance to zero, maximizing the benefits of platooning. The platoon would operate as an all-wheel drive vehicle, with each module independently powered and steered.</p>
<br>
<p>The couple is designed to let vehicles couple and uncouple while in motion, letting vehicles dynamically join or leave a platoon. Ongoing work aims to demonstrate automatic docking and undocking.</p>
</div>
</div>
<br>
<div class="max-width-container">
<div class="centered">
<div class="side-by-side">
<div class="side-by-side-element-image">
<img class="left-image" src="assets/IMG_2796.JPG" alt="The coupling system for two autonomous trikes. The left trike has the protuding portion of the system. The right trike has recessed portion of the system.">
</div>
<br>
<div class="side-by-side-element-text right-text">
<p>Work on the coupler was done by Devin Taing, Li-Ling Plume, Fletcher Kurita, Rebecca Sasten (2023) and Sam Weller, Hong Nguyen, Johnny Kamacho, Micah Lee (2024).</p>
<br>
<p>The docking maneuver requires wireless communication and good sensors. Students have built a redundant sensing system with two parts:</p>
<ol>
<li>Intel RealSense depth camera using stereo</li>
<li>A position sensitive device (PSD) that finds the brightest spot in an image. It is used with high intensity infrared beacons on the back of the target vehicle. With several of these beacons, the distance and angles between vehicles are found, using a method for spacecraft docking: <a href="https://oaktrust.library.tamu.edu/bitstream/handle/1969.1/ETD-TAMU-2009-08-2820/MORRIS-THESIS.pdf" target="_blank">https://oaktrust.library.tamu.edu/bitstream/handle/1969.1/ETD-TAMU-2009-08-2820/MORRIS-THESIS.pdf</a></li>
</ol>
</div>
</div>
</div>
</div>
<br>
<div class="max-width-container">
<div class="max-width-text">
<p>Students working on the sensors included Ethan Costea, Ethan Phonsuk, Rongjie Chen, John Haacke, George Hinds, Faris Stitou (2026)</p>
<br>
<p>Once the vehicles are connected, they no longer depend on wireless. The couple carry wires for the automotive standard CAN bus, enabling the entire platoon to be controlled as a single vehicle.</p>
</div>
</div>
<br>
<div class="docking-video-container">
<video class="docking-video" controls>
<source src="assets/trikes-coupling.mp4" type="video/mp4">
</video>
</div>
</div>
<!-- <video class="docking-video" controls>
<source src="assets/trikes-coupling.mp4" type="video/mp4">
</video> -->
<div class="max-width-container">
<div class="footer">
<p>
<a href="https://github.com/elcano/" target="_blank"><i class="fa fa-github"></i></a>
<a href="mailto:tfolsom@uw.edu" target="_blank"><i class="fa fa-envelope-o"></i></a>
<a href="https://www.youtube.com/@TylerFolsom-j7l/videos" target="_blank"><i class="fa fa-youtube"></i></a>
</p>
<br>
<p class="footer-text">Tyler C. Folsom</p>
<p class="footer-text">Affiliate Professor</p>
<p class="footer-text">Division of Computing and Software Systems</p>
<p class="footer-text">School of Science Technology, Engineering and Mathematics</p>
<p class="footer-text">University of Washington Bothell</p>
<p class="footer-text">362 Discovery Hall, 18115 Campus Way NE, Bothell, WA 98011</p>
<br class="footer-text">
<p class="footer-text">© <script>document.write(new Date().getFullYear())</script> Elcano Project</p>
</div>
</div>
</body>
</html>