School of Engineering Department of Electronic and Computer Engineering 173 Bi-copter VTOL Electronic Speed Controller for a Novel Swashplateless Mechanism Supervisor: SHI Ling / ECE Student: WU Haoran / CPEG Course: UROP 1100, Spring UROP 2100, Summer This progress report details the development of a compact, low-cost ESC for a Bi-copter VTOL drone, designed to support a novel swashplateless mechanism. The project addresses spatial constraints in drone platforms by creating an ESC significantly smaller than conventional designs. In the previous semester, the core circuit was completed and passed initial functionality tests. Current efforts focus on miniaturization and cost optimization to meet tight integration requirements. Traditional gate drivers like the DRV8301, though reliable, are too bulky for space-constrained applications. The FD6288 gate driver was selected for its compact footprint, simplified circuitry, and support for external MOSFETs, which enables flexible power scaling. A comparison with DRV8316 is included to evaluate trade-offs in performance, integration complexity, and cost. While full flight testing is pending due to time constraints, this report presents updated schematics, PCB layout, and design rationale. The groundwork for final implementation is well underway, with future plans to integrate the ESC into the swashplateless control system. Embodied Robotic locomotion Systems for Humanoid Robots Supervisor: SHI Ling / ECE Student: HE Tianlun / ISD Course: UROP 1100, Spring This study focuses on the preliminary development of embodied intelligence for a bipedal skating robot. Key tasks included the construction of training environments (Webots and Isaac Gym), robot modeling (URDF), and the collection of precise motor data (test platform setup and debugging of upper-lower computer communication). These efforts lay a solid foundation for the deployment of reinforcement learning algorithms in future research. Miniaturized Electronic Speed Controller for a Light-Weighted VTOL Fly-wing Aircraft with Swashplateless Mechanism Supervisor: SHI Ling / ECE Student: SIU Ming Fung / CPEG Course: UROP 1100, Spring UROP 2100, Summer This project focuses on developing a compact electronic speed controller (ESC) tailored for vertical take-off and landing (VTOL) fixed-wing aircraft, which feature unique control mechanisms compared to conventional fixed-wing designs. The emphasis is on designing a small, efficient ESC that delivers precise control over position and speed. Key hardware components, including gate drivers, MOSFETs, and magnet encoders, are optimized to enhance performance and efficiency. By advancing these technologies, the project aims to improve the stability and smoothness of VTOL flight operations, driving innovation in aerial transportation.
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