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hyper.html
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<!DOCTYPE html>
<html lang="en">
<head>
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
<title>Hyperloop</title>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<style>
* {
box-sizing: border-box;
}
body {
font-family: Arial, Helvetica, sans-serif;
margin: 0;
}
/* Style the header */
.header {
padding: 50px;
text-align: center;
color: black;
}
.card {
box-shadow: 0 4px 8px 0 rgba(0, 0, 0, 0.2);
max-width: 300px;
margin: auto;
text-align: center;
background-color: white;
}
.title {
color: black;
font-weight: bold;
font-size: 20px;
}
navButton {
border: none;
outline: 0;
display: inline-block;
padding: 8px;
color: white;
background-color: #000;
text-align: center;
cursor: pointer;
width: 100%;
font-size: 18px;
}
a {
text-decoration: none;
font-size: 22px;
color: black;
}
b {
text-decoration: none;
font-size: 14px;
color: black;
}
navButton:hover, a:hover {
opacity: 0.7;
}
navButton:hover, b:hover {
opacity: 0.7;
}
.container {
position: relative;
text-align: center;
color: black;
}
.centered {
top: 35%;
left: 26%;
font-size: 45px;
position: absolute;
transform: translate(-50%, -50%);
}
.subCentered {
position: absolute;
transform: translate(-50%, -50%);
top: 35%;
left: 50%;
font-size: 25px;
}
/* Increase the font size of the h1 element */
.header h1 {
font-size: 40px;
position: relative;
text-align: center;
color: black;
}
.header h1.center{
position: absolute;
top: 50%;
left: 50%;
transform: translate(-50%, -50%);
}
/* Style the top navigation bar */
.navbar {
overflow: hidden;
background-color: #333;
}
/* Style the navigation bar links */
.navbar a {
float: left;
display: block;
color: white;
text-align: center;
padding: 14px 20px;
text-decoration: none;
}
.navbar b {
float: left;
display: block;
color: white;
text-align: center;
padding: 14px 20px;
text-decoration: none;
}
/* Right-aligned link */
.navbar a.right {
float: right;
}
/* Change color on hover */
.navbar a:hover {
background-color: #ddd;
color: black;
}
.navbar b:hover {
background-color: #ddd;
color: black;
}
/* Column container */
.row {
display: flex;
flex-wrap: wrap;
}
/* Create two unequal columns that sits next to each other */
/* Sidebar/left column */
.side {
flex: 30%;
background-image: linear-gradient(to bottom right, #cc3300, white);
padding: 20px;
}
/* Main column */
.main {
flex: 70%;
background-image: linear-gradient(to bottom right, white, #66ccff);
padding: 20px;
}
/* Fake image, just for this example */
.fakeimg {
background-color: #000000;
width: 100%;
padding: 10px;
}
.aboutmepic {
width: 100%;
padding-bottom: 5px;
padding-top: 20px;
}
.fancypic {
width: 100%;
opacity: 0.6;
}
/* Footer */
.footer {
padding: 20px;
text-align: center;
background: #ddd;
}
/* Responsive layout - when the screen is less than 700px wide, make the two columns stack on top of each other instead of next to each other */
@media screen and (max-width: 700px) {
.row {
flex-direction: column;
}
}
/* Responsive layout - when the screen is less than 400px wide, make the navigation links stack on top of each other instead of next to each other */
@media screen and (max-width: 400px) {
.navbar a {
float: none;
width:100%;
}
}
@media screen and (max-width: 400px) {
.navbar b {
float: none;
width:100%;
}
}
</style>
</head>
<body>
<div class="header">
<div class="container">
<img class="fancypic" src="Pics/pod.jpeg" alt="">
<div class="subCentered">*zoom*</div>
</div>
</div>
<div class="navbar">
<a href="index.html">Home</a>
<a href="/" class="right">Main</a>
</div>
<div class="row">
<div class="main">
<h2> Hyperloop!</h2>
<h5>What is the hyperloop?</h5>
<!<img src="Pics/MEP.jpg" alt="MEP" style="width:60%">
<p> Most of my experience with the hyperloop comes from he SpaceX competitions. Elon Musk
<a href="https://www.tesla.com/sites/default/files/blog_images/hyperloop-alpha.pdf"
style="font-size: 16px; color:red">published a whitepaper</a>
in 2012, outlining a faster and safer way to travel. Advances in the airline industry
are expected make air travel more efficient for longer distances, but there is a gap where
trains are too slow. The hyperloop is basically a train tunnel pulled to a low vacuum. This
reduces drag without being prohibitively expensive, like maintaining a stronger vacuum would be.
He would later create a student competition to design, build, and test scaled hyperloop pods.
I joined Paradigmin 2016, looking for some more hands on design experience. <br>Oh man did I get it.
</p>
<p> The team had some design and a few builds, but it was pretty clear there was quite a bit
of work to do elctrically. The battery system used pouch cells (big no for vacuum), the flight computer interface was unreliable,
no power budget had been made, a fraction of the sensors were fleshed out, and other subsystems
were non-existent. Most of the sparkys (electricals) had done a co-op or two, but we were not nearly experienced enough
for this to be a walk in the park. The team grinded through it all, learning something new everyday. I was fortunate to own a few designs
and lead/co-lead the electrical team. I learned more over those ~2 years on the team than in most of my classes
combined and made some great friends along the way.
</p>
<p>
Here's our second place run from Competition II at SpaceX!
<br>
<iframe width="560" height="315" src="https://www.youtube.com/embed/qJk_zS7KJo4" title="YouTube video player" frameborder="0"
allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
</p>
<h2> The Pod </h2>
<h5>Let's outline the Pod before getting into design details.</h5>
<img src="Pics/pod_full.jpeg" alt="MEP" style="width:60%">
<p> The subsystems evolved over the years but at its core: its 20 feet long, weighs 2000 lbs,
and is spec'd to carry another 2000 lbs at 200mph. The levitation system is air based - think of an upside down
air hockey table - which creates a cushion of air under the Pod, greatly reducing friction losses. The Pod
is autonomous once set to the RUN state, handling navigation, telemetry, and safing itself in the event of an error.
Self propulsion wasn't part of the equation until competition III.
</p>
<p> There were five core subsystems levitation, braking, electrical, fuselage, software/controls, and air supply.
Levitation's primary objective was to ensure the pod has a stable low friction connection to the ground. Imagine
being able to push around this 2000lb beast with your pinky. It wasn't quite that easy but it was darn close compared
to the team of people needed to push it around on a special dolly. That was the "easier" part of the challenge. Some
of the dynamic air flow work the team did was pretty advanced. The pod needs to minimize what I'd think of as oscillations
while floating, i.e it can't "bounce" from side to side. It also needs to float sufficiently high such that it can pass
sections of the track with small height differences.
</p>
<p>
The braking team made sure the pod could stop in a safe and controlled manner. Fuselage worked to create a low drag shell, while
the air supply team ensured there was sufficient air that was routed safely for leviation and the braking system.
</p>
<p>
Software and controls had some fun tasks. The pod's brain is a Bealgebone Black, a TI Sitara AM335x based single board computer. It ran
all of the state machines, number crunching, telemetry streams, and sensor fusion.
</p>
<p>
My mindset was that electrical glued it all together. The software can't actuate the solenoids, read a temperature, or even know
the pod is on battery power without some clever interfaces. The team's functions were broken up by circuit board:
<ul>
<li>MotherBoard: Convert all sensor data onto the SPI bus for the Beaglebone and interface with the batteries </li>
<li>Batteries+Mangement System: Power the Pod, safely, using a commercial BMS</li>
<li>ThermoBoard: convert all of the thermocouples into a 0-5V analog signal </li>
<li>Pusher Interface: Essentially an interlock so the Pod cannot brake while being pushed </li>
<li>PowerBoard: Smartly switch between ground and battery power + create 24V and 5V rails for the other boards </li>
<li>LEDBoard: Quick visual status so someone can check the Pod's health+status from a distance </li>
<li>SSRBoard / Relay board: Array of solid state relays to actuate the various solenoids </li>
<li>IMU: Really owned by controls but it had to be connected </li>
</ul>
</p>
<h5>High Level Electrical Schematic</h5>
<img src="Pics/High_Level_Schematic.jpg" alt="MEP" style="width:60%">
<p> This diagram was revised many times since the modules and system were being designed in parallel. There's two redundant battery
packs with an integrated battery management system. The battery boards provide some features so the batteries can be charged. All
voltage rails are made by the main power board which switches between ground power vs batteries and will pick the healthiest battery.
The 24V and 5V rails are tuned a bit higher for cable losses and local regulation.
</p>
<p> <a href="Motherboard.html"
style="font-size: 16px; color:red">The Motherboard</a>
handles all analog -> digital conversion, communicates with the IMU and relay boards, and connects to the flight computer.
This board is where I spent a significant amount of time - learning everything from how to use KiCAD and good schematic practices,
PCB layout, power regulation, A to D, and system design. There are 2-3 revisions on Github and the first one ordered that was DOA
hangs above my desk.
</p>
<p> The Relay boards consist of a series of solid state relays controlled via I2C. They control the solenoids and proportional valves around the Pod.
Later versions of the system have additional boards such as thermocouple interfaces that convert the low voltage signals to a more
reliable 0-5V.
</p>
</div>
</div>
<div class="footer">
<h2>Footer</h2>
</div>
</body>
</html>