Project

# Title Team Members TA Documents Sponsor
29 Smart Tripod
 Henry Thomas
Kadin Shaheen
Miguel Domingo
 Chi Zhang design_document1.pdf
final_paper1.pdf
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presentation1.pdf
proposal1.pdf
video
# Smart Tripod

Team Members:
- Henry Thomas (henryjt3)
- Kadin Shaheen (kadinas2)
- Miguel Domingo (jdomi8)

1. Problem

Traditional tripods provide stability for cameras and smartphones but lack dynamic adjustability and real-time framing assistance. When setting up a shot, users must manually adjust the tripod’s angle and position, often requiring multiple iterations to get the perfect frame. This is especially inconvenient for solo photographers, vloggers, or group shots where precise positioning is essential. Additionally, while taking personal videos, standard tripods will not adjust their camera angle to ensure you stay in frame and centered. Though motor controlled tripods do exist, they lack the extra functionality of being able to view your camera image real time, and do not offer automatic subject tracking.

2. Solution

We are creating a smart tripod system that enhances traditional tripods by integrating motorized adjustments and real-time framing assistance. This system will allow users to remotely control their phone’s position and preview the shot through an external display, making it easier to capture well-framed images and videos without manual repositioning. The smart tripod will connect wirelessly to a user’s smartphone and use stepper motors to adjust the phone’s angle and orientation. An external display will provide a live preview of the camera feed and serve as the control interface for adjusting the tripod’s position. The system will also include a tracking feature where the camera will follow a subject, adjusting the camera’s orientation ensuring that the subject stays centered on the field of view.

3. Solution Components

Subsystem 1 - Motorized Positioning System (MPS)

The MPS will utilize 2 stepper motors for zenith and azimuth orientation. The main body will be made out of a non-toxic 3d printed body, most likely PLA. It will also include a phone mount and clamp made of the same material. The MPS will have the following electronic components: Custom PCB, An ESP32 for Websocket interfacing and motor control, 2 Makerlabs DRV8825 stepper motor controller, 2 Adafruit 324 12V 350ma stepper motors, A power system (discussed below)

Subsystem 2 - Remote Display and Control Interface

The ESP32S3 controls the tripod’s motors via WebSockets over WiFi, with physical buttons for azimuth (horizontal) and zenith (vertical) adjustments. A Raspberry Pi 4, running RPiPlay, wirelessly receives the iPhone’s camera feed via AirPlay and displays it on a Waveshare 2.4-inch SPI LCD. OpenCV on the Raspberry Pi processes the video to track a subject, sending position data via GPIO through a SparkFun BSS138 Logic Level Translator to the ESP32S3, which adjusts the tripod accordingly. A switch toggles between tracking and manual modes. WebSockets over Wi-Fi enable motor control and iPhone camera actions (photo, video, zoom). The ESP32S3 provides a shared Wi-Fi network for seamless communication. The remote control interface will also contain a custom pcb and a power system, the latter of which is discussed below.

Subsystem 3 - App Interface

A custom app will use WebSockets to receive ESP32S3 commands over Wi-Fi and control iPhone camera functions via AVFoundation, including video start/stop, photo capture, and zoom.

Subsystem 4 - MPS Power System

This subsystem is intended to supply power to the stepper motors, esp32, and motor drivers. The power system will include: 1 KBT 12V, 2600mAh Li-Ion battery pack, 1 Recom R-78B3.3-1.0 3v3 buck converter

Subsystem 5 - Remote Display and Control Interface Power System

The power system of the control interface is designed to supply and maintain onboard power to the Raspberry PI, ESP32S3, and other onboard circuit. The power system will include:, 1 3v7 LiPo 2000mAh 2c battery, a 1S 3v7 2c (4 amp working) BMS, A Type-C connector for charging, A 3v3 step down voltage regulator for the ESP32 and Logic Level Translator, 1 5V step up voltage regulator for the Raspberry Pi, Logic Level Translator, and LCD display

4. Criterion For Success

- Motors must respond to inputs and tracking commands within 250ms with precise movement (±2°).
- iPhone camera actions (photo, video, zoom) must trigger within 500ms over Wi-Fi.
- iPhone screen must stream to the remote display via AirPlay with <1s latency and ≥24 FPS.
- Tracking must detect and follow the subject within 250ms after receiving video, maintaining focus on the first detected subject.
- The system must run for at least 30 minutes without overheating, maintaining stable operation.

Four Point Probe

Simon Danthinne, Ming-Yan Hsiao, Dorian Tricaud

Four Point Probe

Featured Project

# Four Point Probe

Team Members:

Simon Danthinne(simoned2)

Ming-Yan Hsiao(myhsiao2)

Dorian Tricaud (tricaud2)

# Problem:

In the manufacturing process of semiconductor wafers, numerous pieces of test equipment are essential to verify that each manufacturing step has been correctly executed. This requirement significantly raises the cost barrier for entering semiconductor manufacturing, making it challenging for students and hobbyists to gain practical experience. To address this issue, we propose developing an all-in-one four-point probe setup. This device will enable users to measure the surface resistivity of a wafer, a critical parameter that can provide insights into various properties of the wafer, such as its doping level. By offering a more accessible and cost-effective solution, we aim to lower the entry barriers and facilitate hands-on learning and experimentation in semiconductor manufacturing.

# Solution:

Our design will use an off-the-shelf four point probe head for the precision manufacturing tolerances which will be used for contact with the wafer. This wafer contact solution will then be connected to a current source precisely controlled by an IC as well as an ADC to measure the voltage. For user interface, we will have an array of buttons for user input as well as an LCD screen to provide measurement readout and parameter setup regarding wafer information. This will allow us to make better approximations for the wafer based on size and doping type.

# Solution Components:

## Subsystem 1: Measurement system

We will utilize a four-point probe head (HPS2523) with 2mm diameter gold tips to measure the sheet resistance of the silicon wafer. A DC voltage regulator (DIO6905CSH3) will be employed to force current through the two outer tips, while a 24-bit ADC (MCP3561RT-E/ST) will measure the voltage across the two inner tips, with expected measurements in the millivolt range and current operation lasting several milliseconds. Additionally, we plan to use an AC voltage regulator (TPS79633QDCQRQ1) to transiently sweep the outer tips to measure capacitances between them, which will help determine the dopants present. To accurately measure the low voltages, we will amplify the signal using an JFET op-amp (OPA140AIDGKR) to ensure it falls within the ADC’s specifications. Using these measurements, we can apply formulas with corrections for real-world factors to calculate the sheet resistance and other parameters of the wafer.

## Subsystem 2: User Input

To enable users to interact effectively with the measurement system, we will implement an array of buttons that offer various functions such as calibration, measurement setup, and measurement polling. This interface will let users configure the measurement system to ensure that the approximations are suitable for the specific properties of the wafer. The button interface will provide users with the ability to initiate calibration routines to ensure accuracy and reliability, and set up measurements by defining parameters like type, range, and size tailored to the wafer’s characteristics. Additionally, users can poll measurements to start, stop, and monitor ongoing measurements, allowing for real-time adjustments and data collection. The interface also allows users to make approximations regarding other wafer properties so the user can quickly find out more information on their wafer. This comprehensive button interface will make the measurement system user-friendly and adaptable, ensuring precise and efficient measurements tailored to the specific needs of each wafer.

## Subsystem 3: Display

To provide output to users, we will utilize a monochrome 2.4 inch 128x64 OLED LCD display driven over SPI from the MCU. This display will not only present data clearly but also serve as an interface for users to interact with the device. The monochrome LCD will be instrumental in displaying measurement results, system status, and other relevant information in a straightforward and easy-to-read format. Additionally, it will facilitate user interaction by providing visual feedback during calibration, measurement setup, and polling processes. This ensures that users can efficiently navigate and operate the device, making the overall experience intuitive and user-friendly.

# Criterion for Success:

A precise constant current can be run through the wafer for various samples

Measurement system can identify voltage (10mV range minimum) across wafer

Measurement data and calculations can be viewed on LCD

Button inputs allow us to navigate and setup measurement parameters

Total part cost per unit must be less than cheapest readily available four point probes (≤ 650 USD)

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