Parking Assistant Idea: Objective

Parking Assistant Idea Objective:  Guide an autonomous vehicle inside a parking lot General Description: Guidance system composed by a sensor coil inside a Uniform Magnetic Field

ANDRES BRITO

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I. Commercial Parking Systems Cartesian Robot: [1],[2] 1. 2.

Westfalia parking solutions Skyline Parking

Limitations Cartesian robots require a high infrastructure investment. Mobile robots have technical and economic problems similar to autonomous vehicles.

Mobile Robot: [3],[4] 1. 2.

HIKVISION Smart Parking BMW self-driving robots in Supply Logistics

[1] https://www.westfaliaparking.com/parking-systems/system-types/ [2] https://skyline-parking.com/aps-applications/car-dealership-parking/ [3] http://en.hikrobotics.com/robot/robotplaninfo.htm?type=546&oid=1598 2 [4] https://www.press.bmwgroup.com/global/article/detail/T0257786EN/bmw-group-introduces-self-driving-robots-in-supply-logistics?language=en

II. Related Research Eye movement in three degrees of freedom [5] [5] David A. Robinson, “A Method of Measuring Eye Movemnent Using a Scieral Search Coil in a Magnetic”, IEEE Transactions on Bio-medical electronics, Oct. 1963

Contribution  Using two magnetic fields in quadrature phase and two coils on the lens, one may measure horizontal, vertical and torsional eye movements simultaneously.

Limitation  Uniform Magnetic Field. 3

II. Related Research Description of three coil systems to generate uniform magnetic field[6] [6] S. Magdaleno-Adame, J.C. Olivares-Galvan, E. Campero-Littlewood, R. Escalera-Perez, “Coil Systems to generate Uniform Magnetic Field Volumes”, COMSOL Conference 2010, Boston

Contribution  Mathematical description and simulation for designing coil systems which generate uniform magnetic field. Limitation  Separation between coils and coil dimension.

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II. Related Research Modified Helmholtz coil to improve uniformity in the magnetic field[7] [7] I. Sasada, Y. Nakashima, “Planar coil system consisting of three coil pairs for producing a uniform magnetic field”, Journal of Applied Physics 99, 08D904, (2006)

Contribution  Simplified design and improvement in the magnetic field uniformity. Limitation  Separation between coils and coil dimension. 5

II. Related Research Symmetric arrangement of transmitting coils yields a uniform magnetic field around longitudinal axis [8] [8] Ron-Chi Kuo, Patrick Riehl, and Jenshan Lin, “3-D Wireless Charging System with Flexible Receiver Coil Alignment”, 978-1-4673-7986-1/16, 2016 IEEE

Contribution Overcome misalignment related problems for charging systems. Receiving coil surrounded by the generated magnetic field. Limitation Identify the receiver position to activate the suitable coils

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II. Related Research Capacitive Wireless Power Transfer [9] [9] R. Dias, J. Matos, and N. Borges, “Resonant Electrical Coupling: Circuit Model and First Experimental Results”, IEEE Transactions on Microwave Theory and Techniques, Vol. 63, No. 9, Sep. 2015

Contribution Study of resonant electric coupling for WPT. Implemented design of capacitors for WPT. Limitation Initial approach, better description about distances and capacitance is required.

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II. Related Research Line follower and objects store systems [10], [11] [10] F. Ali, A. Rashid , “Design and implementation of static and dynamic objects store systems using line follower robots”, 2018 International Conference on Advances in Sustainable Engineering and Applications (ICASEA), Wasit University, Kut, Iraq [11] T. Fujiwara, T. Muramatsu, and Y. Iwatani, “Further results on interaction with a line-follower”, SICE Annual Conference 2012, Akita, Japan

Contribution Description of a storage systems similar to a parking system. Static and dynamic paths suitable for parking lots. Limitation Physical path regeneration system.

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III. Proposed Solution Electromagnetic Guidance for Autonomous Vehicles 1. Description: - Magnetic field for orientation and electric field for position on a plane. - Line follower defines the path for the autonomous vehicle. - Autonomous vehicle internal controller follows the path.

Orientation -

Sensor coil in the car

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Magnetic field generator in the line follower

Position -

Capacitor plates in the car and robot

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2D position control, distance measurements

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Movement -

Specific path assigned to line follower

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Implementation of a position control for autonomous vehicle

III. Proposed Solution 1. Orientation: - Use a sensor coil inside a magnetic field to measure angular position. Magnetic Field Generator Sensor coil

B Coil windings

𝝋 Uniform Magnetic Field z x

y

Sensor coil

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III. Proposed Solution 2. Position: - Use capacitor plates to determine position (2D distance measurement). - WPT could be also used, energy depends on capacitance, and it depends on distance

Capacitor Plates

Sensor coil and capacitor plates (vehicle)

Coil windings and capacitor plates (line follower)

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III. Proposed Solution 3. Movement: - Interaction between autonomous vehicle and line follower

Vehicle

Sensor coil

Coil winding

Capacitor Plates

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