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.

Electronic Mouse (Cat Toy)

Jack Casey, Chuangy Zhang, Yingyu Zhang

Electronic Mouse (Cat Toy)

Featured Project

# Electronic Mouse (Cat Toy)

# Team Members:

- Yingyu Zhang (yzhan290)

- Chuangy Zhang (czhan30)

- Jack (John) Casey (jpcasey2)

# Problem Components:

Keeping up with the high energy drive of some cats can often be overwhelming for owners who often choose these pets because of their low maintenance compared to other animals. There is an increasing number of cats being used for service and emotional support animals, and with this, there is a need for an interactive cat toy with greater accessibility.

1. Get cats the enrichment they need

1. Get cats to chase the “mouse” around

1. Get cats fascinated by the “mouse”

1. Keep cats busy

1. Fulfill the need for cats’ hunting behaviors

1. Interactive fun between the cat and cat owner

1. Solve the shortcomings of electronic-remote-control-mouses that are out in the market

## Comparison with existing products

- Hexbug Mouse Robotic Cat Toy: Battery endurance is very low; For hard floors only

- GiGwi Interactive Cat Toy Mouse: Does not work on the carpet; Not sensitive to cat touch; Battery endurance is very low; Can't control remotely

# Solution

A remote-controlled cat toy is a solution that allows more cat owners to get interactive playtime with their pets. With our design, there will be no need to get low to the ground to adjust it often as it will go over most floor surfaces and in any direction with help from a strong motor and servos that won’t break from wall or cat impact. To prevent damage to household objects it will have IR sensors and accelerometers for use in self-driving modes. The toy will be run and powered by a Bluetooth microcontroller and a strong rechargeable battery to ensure playtime for hours.

## Subsystem 1 - Infrared(IR) Sensors & Accelerometer sensor

- IR sensors work with radar technology and they both emit and receive Infrared radiation. This kind of sensor has been used widely to detect nearby objects. We will use the IR sensors to detect if the mouse is surrounded by any obstacles.

- An accelerometer sensor measures the acceleration of any object in its rest frame. This kind of sensor has been used widely to capture the intensity of physical activities. We will use this sensor to detect if cats are playing with the mouse.

## Subsystem 2 - Microcontroller(ESP32)

- ESP32 is a dual-core microcontroller with integrated Wi-Fi and Bluetooth. This MCU has 520 KB of SRAM, 34 programmable GPIOs, 802.11 Wi-Fi, Bluetooth v4.2, and much more. This powerful microcontroller enables us to develop more powerful software and hardware and provides a lot of flexibility compared to ATMegaxxx.

Components(TBD):

- Product: [https://www.digikey.com/en/products/detail/espressif-systems/ESP32-WROOM-32/8544298](url)

- Datasheet: [http://esp32.net](url)

## Subsystem 3 - App

- We will develop an App that can remotely control the mouse.

1. Control the mouse to either move forward, backward, left, or right.

1. Turn on / off / flashing the LED eyes of the mouse

1. keep the cat owner informed about the battery level of the mouse

1. Change “modes”: (a). keep running randomly without stopping; (b). the cat activates the mouse; (c). runs in cycles(runs, stops, runs, stops…) intermittently (mouse hesitates to get cat’s curiosity up); (d). Turn OFF (completely)

## Subsystem 4 - Motors and Servo

- To enable maneuverability in all directions, we are planning to use 1 servo and 2 motors to drive the robotic mouse. The servo is used to control the direction of the mouse. Wheels will be directly mounted onto motors via hubs.

Components(TBD):

- Metal Gear Motors: [https://www.adafruit.com/product/3802](url)

- L9110H H-Bridge Motor Driver: [https://www.adafruit.com/product/4489](url)

## Subsystem 5 - Power Management

- We are planning to use a high capacity (5 Ah - 10 Ah), 3.7 volts lithium polymer battery to enable the long-last usage of the robotic mouse. Also, we are using the USB lithium polymer ion charging circuit to charge the battery.

Components(TBD):

- Lithium Polymer Ion Battery: [https://www.adafruit.com/product/5035](url)

- USB Lithium Polymer Ion Charger: [https://www.adafruit.com/product/259](url)

# Criterion for Success

1. Can go on tile, wood, AND carpet and alternate

1. Has a charge that lasts more than 10 min

1. Is maneuverable in all directions(not just forward and backward)

1. Can be controlled via remote (App)

1. Has a “cat-attractor”(feathers, string, ribbon, inner catnip, etc.) either attached to it or drags it behind (attractive appearance for cats)

1. Retains signal for at least 15 ft away

1. Eyes flash

1. Goes dormant when caught/touched by the cats (or when it bumps into something), reactivates (and changes direction) after a certain amount of time

1. all the “modes” worked as intended

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