Course:VANT151/2026/Capstone/APSC/Team4

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Welcome to the Wiki page of Team 4 of VANT151 – Multidisciplinary Engineering Design Project. In this course, we are developing a scaled demonstrator prototype of an improved electric cycling system that aims to address key problems associated with cycling on the UBC Okanagan campus. This project is inspired by the need to reduce commuting-related greenhouse gas emissions while improving the safety, comfort, and usability of cycling as a transportation option. This page documents our design process, decisions, and final prototype.

Introduction

The University of British Columbia Okanagan (UBCO) has committed to ambitious sustainability goals through its Climate Action Plan (CAP 2030), which targets significant reductions in greenhouse gas emissions. A large proportion of emissions comes from commuting, with personal vehicles being the dominant mode of transportation. Although cycling is a sustainable alternative, it is currently underutilized due to several challenges. These include weather conditions, safety concerns, limited commuting range, lack of comfort, and security issues such as theft. To address these challenges, this project focuses on designing an improved electric cycling solution that enhances usability and encourages more people to adopt cycling for daily commuting. The prototype is built at a 1:5 scale and is based on an existing electric bicycle platform. Our team is responsible for designing additional components and features that demonstrate improvements in areas such as safety, comfort, environmental protection, and functionality.

Team Requirements

Functions

1. carry a rider.
2. Allows the rider to be active during the commute.
3. Carry the usual items needed in school.
4. Usable when raining or snowing.
5. Keeping rider cool in summer, warm in winter.
6. Has adequate illumination for the visibility of the rider and other road users.
7. Prevent the rider from falling or the vehicle from tipping over during normal operation.
8. move along a straight-line path.
9. complete a figure-eight path without toppling over.
10. operate in both remote-controlled and pre-programmed modes.
11. not require the mannequin to be inside the vehicle during driving.
12. use training wheels if a two-wheeled design is selected.

Objectives

1. Improve safety through stable movement, reliable control, lighting, and rider protection.
2. Develop a functional 1:5 scale electric cycling prototype for campus commuting.
3. Improve comfort by reducing heat gain, increasing airflow, and protecting the rider from poor weather.
4. Ensure reliable operation in both remote-controlled and pre-programmed modes.
5. Keep the prototype compact, lightweight, stable, and practical to manufacture.
6. Integrate all structural, mechanical, electrical, and thermal systems into one working vehicle.
7. Support sustainable transportation by reducing reliance on personal vehicles for commuting.

Constraints

1. have a width not exceeding 240 mm, equivalent to 1,200 mm in full scale.
2. have a combination of length and width that fits within a copier paper carton of 430 mm × 279 mm, equivalent to 2,150 mm × 1,395 mm in full scale.
3. have a minimum turning radius of 600 mm or less, measured wall to wall.
4. accommodate a human mannequin that is 360 mm tall, representing a 1:5 scale model of a 1.8 m rider.
5. operate within the maximum allowable electrical power limit of nominal 9.6 V DC and 2.8 A.
6. maintain a temperature difference from the ambient temperature at the intended rider’s chest location.

Electrical Design

The electrical division is responsible for the design, integration, and operation of all electrical and electronic components of the electronic bike prototype, including power management, wireless communication, motor control, steering control, lighting systems, and auxiliary equipment.

Requirements

Functions

The functions of the electrical components are to:

1. Control the motor, steering servo, fan, and Peltier module.
2. Power and control headlights, brake lights, turn signals, or horn.
3. Provide an autonomous driving mode.

Objectives

The design objectives of the electrical team are to:

1. Improve response speed and control precision.
2. Make the circuit compact and lightweight.

Constraints

The design of the electrical team must meet the constraints:

1. Maximum allowed electrical power: 9.6V DC, 2.8A max current
2. Must fit within the vehicle size limits.
3. Components may have poor contact, such as working sometimes or overheating.
4. Electrical system may interfere with steering or stability.

The Design

RX autono. prog: https://docs.google.com/document/d/15t2l19suzIjJDCFbaFeK1Q39llgaMI545Eh86Cpc5sE/edit?usp=sharing

Option 1

Figure 1.1 Transmitter Option 1	In Transmitter Option 1 Initially, following the instructor's circuit diagram, we connected the components and then checked if each component worked. If it doesn't work, we'll contact the instructor to replace the part. If it works, we'll proceed to the next step: connecting the receiver.
Figure 1.3 Receiver Option 1	In Receiver Option 1, similarly, check if each component is working. The key point here is whether the Receiver can receive the transmitter's signal and whether the motor and servo will move.

Option 2

Figure 1.2 Buttom Basis	Base of Buttom: How to control the pathway In this case, If the button is pressed, the transmitter will send a signal to the receiver, which will then receive the instruction and perform the action.
Figure 1.4 Receiver Option 2	Challenge: We discovered that the motor, which controls the bicycle's drive, cannot reverse, so we wanted to investigate how reversing is achieved. The H-bridge is using gate to control motor go forward or backward. Advatage: The power motor could increase/ decrease linear, easier to operate Disadvantage: Because we only have N-MOS to control the motor, which will lost a lot of motor power.

Option 3

Figure 1.5 Relay Basis	Here, we introduce relay basis on the left side to tackle the power lost in motor.
Figure 1.6 Receiver Option 3	Advantage: no power lost and motor can reverse. Disadvantage: Just can control motor frontward or backward, can't control the speed of motor.

Because each option has its own advantage and disadvantage, 6 objectives discussed are in weighted decision martix (WDM).

Weighted Decision Martix for Receiver Design

Objectives	Weight	Option 1	Option 2	Option 3
Speed	40%	3	1	2
Function	20%	1	3	3
Control	10%	1	3	2
Simplicity	10%	3	1	2
Weight	10%	3	1	2
Innovative	10%	1	3	3
Total Score	100%	2.2	1.8	2.3

Therefore, options 3 win because it has better function and innovative feature than others.

Sub-system Performance Results

During testing, the electrical subsystem was able to receive wireless commands from the transmitter and send control signals to the vehicle components. The receiver board controlled the drive motor and steering servo based on the user input, allowing the prototype to move forward, turn, and stop during remote-controlled operation.

The another electrical systems were also tested separately. The fan circuit provided airflow when powered, and the Peltier circuit functioned as the cooling element for the air-conditioning system. These components were connected as support systems for rider comfort.

The obstacle detection module worked as a warning system. When an object was detected within the preset distance range in front of the vehicle, the ultrasonic sensor activated the buzzer. When no object was detected within the warning range, the buzzer remained off.

Overall, the electrical subsystem met the main control and support requirements of the prototype. The transmitter and receiver were able to communicate, and the main vehicle components responded to the control signals. Some improvements are still needed, such as making the wiring more secure, organizing the cables more clearly, and testing the system for a longer period of time.

Recommendations

• Currently, the air-conditioning system can only provide cooling because the Peltier module is powered in one direction. A future improvement would be to add a polarity-reversing circuit so the system could switch between cooling and heating.
• Currently, the ultrasonic sensor can only detect obstacles in one fixed forward direction. A future improvement would be to mount the sensor on a small servo motor so that it can scan a wider fan-shaped area in front of the vehicle.
• Future recommendations for the transmitter include improving the enclosure and mounting to better protect the joystick, buttons, and nRF24L01 module. A rechargeable battery with a battery-level indicator could also be added to improve portability.

Table 2: Basic Circuit

Drive and Steering Circuit	Fan Circuit	Peltier Circuit
Figure 1.8 Drive and Steering Circuit	Figure 1.9 Fan Circuit	Figure 1.10 Peltier Circuit

Table 3：Boards Mounting

Receiver	Transmitter
Figure 1.11 Location for component in Receiver	Figure 1.12 Location for component in Transmitter

Table 4: Autonomous Program and Extra Fearture

Autonomous Program	Extra Features (if any)
Figure 1.13 Autonomous Program	Figure 1.14 LCD Module with 12C interface

Table 5: Vehicle Boards

Location for Finalized Transmitter	Location for Finalized Receiver
Finalized Transmitter	Finalized receiver

Table 6: Finalized Vehicle Board Design

Finalized Receiver Design	Finalized Transmitter Design
Figure 1.7 Finalized Receiver Design

Table 7: Fans Wiring

Extra feature

1. Obstacle Detection Module

As an extra feature, our electrical sub-team added an obstacle detection module to improve the safety feedback of the vehicle. This module uses a front-facing ultrasonic distance sensor to detect objects in front of the car. The sensor measures the distance between the vehicle and nearby objects by sending out an ultrasonic signal and receiving the reflected signal.

When the detected distance is below the set range, the system activates the buzzer as a warning signal. If no obstacle is detected within the range, the buzzer remains off. This allows the user to receive real-time feedback when the vehicle is getting close to an object.

This feature does not directly stop the vehicle, but it provides an immediate warning to help the user react earlier. It adds an extra layer of safety to the vehicle system and can be further improved in the future by connecting the obstacle detection result to automatic braking or speed reduction.

The front of the ultrasonic sensor	The back of the ultrasonic sensor

Mechanical Design

The mechanical sub-team is responsible for the design, manufacturing, and assembly of the scaled-down front suspension system for the electronic bike prototype. This includes kinematic mechanism design, material selection, structural analysis, and integration with the steering servo and chassis to ensure stable, controlled wheel movement while maintaining the key characteristics of the full-scale suspension geometry.

Requirements

Functions

The functions of the mechanical components are to:

1. Enable controlled vertical movement of the front wheels to absorb shocks and maintain tire contact with the ground.
2. Maintain consistent wheel alignment (camber and toe angles) throughout the full suspension travel.
3. Transmit steering input from the servo to the front wheels without binding or excessive play.
4. Support the static and dynamic loads of the scaled prototype, including the vehicle's weight, impact forces, and cornering loads.
5. Limit the maximum suspension travel to prevent overextension, bottoming out, or component damage.

Objectives

The design objectives of the mechanical team are to:

1. Reduce the overall weight of the vehicle by using a simple mechanical structure.
2. Make the suspension and steering system compatible with the scaled frame, steering servo, and front wheel assembly.
3. Keep the design easy to manufacture, assemble, and adjust.
4. Choose a clear and practical design that can meet the basic steering and suspension requirements of the prototype.

Constraints

The design of the mechanical team must meet the constraints:

1. Must fit within the scaled prototype's front chassis mounting dimensions (width, length, and height limits).
2. Total weight of the front suspension assembly must meet the project's mechanical weight budget.
3. Components must withstand the prototype's static and dynamic loads without yielding, bending, or breaking.
4. The suspension mechanism must not interfere with steering, wheel rotation, or other electrical components.

The Design

Transmission

Back-wheel transmission Design

The transmission system employs a chain-driven mechanism to deliver power from the motor to the single rear wheel. A large driving sprocket is directly coupled to the motor shaft, while a smaller driven sprocket is attached to the rear axle. The two sprockets are connected by a chain, enabling continuous power transmission.

Given that the motor operates at high torque and relatively low rotational speed, this sprocket configuration is designed to preserve torque output while converting it into usable wheel motion. The chain drive provides a reliable and efficient transmission method with low energy loss, making it suitable for the tricycle model.

Front suspension

Design 1

Front suspension 1 design

Design 1 is based on a double wishbone suspension system combined with a central steering linkage mechanism. The system includes upper and lower control arms, shock absorbers, steering knuckles, and a servo-driven linkage.

The steering input is generated by a servo motor located at the center of the chassis, which drives a servo arm connected to two steering tie rods. These tie rods transmit motion symmetrically to both front wheels. When the servo rotates, the linkage pulls one side while pushing the other, causing the wheels to rotate about their steering knuckles.

Additionally, the suspension system uses double wishbone geometry, which allows vertical wheel movement while maintaining tire contact with the ground. The shock absorbers are mounted between the chassis and control arms to absorb vibrations and improve stability.

However, this design is relatively complex due to:

• A large number of components (control arms, joints, linkage systems)
• Multiple pivot points increasing assembly difficulty
• Higher manufacturing and alignment requirements

As a result, although the design provides good suspension performance and realistic steering behavior, it is not ideal for a simplified model prototype.

Design 2

Design 2 (final decision)—a simplified front steering system based on the Ackermann steering principle, optimized for ease of manufacturing and assembly.

The system consists of:

• A central servo motor
• A steering arm (servo arm)
• Two symmetric steering links (tie rods)
• Steering knuckles connected to each front wheel

When the servo motor rotates, the servo arm moves laterally, pulling and pushing the two steering links. This causes both front wheels to rotate at different angles, satisfying the Ackermann steering geometry, where:

• The inner wheel turns at a larger angle
• The outer wheel turns at a smaller angle

Front Suspension Design 2	Front Suspension Model 2	Front Suspension Model 2
Front suspension design 2	Trimetric View	Front View

This ensures that all wheels follow circular paths with a common center, reducing tire slip during turning.

Compared to Design 1, this design has several advantages:

• Fewer components, making it easier to model in SolidWorks
• Simpler geometry, reducing assembly complexity
• Improved efficiency, with direct transmission of motion
• Still maintains realistic steering behavior through Ackermann geometry

We chose Design 2 because it is simple, lightweight, and easier to build while still meeting the steering and suspension needs of our scaled prototype

Structural Design

The structural sub-team is responsible for the overall body design of the vehicle, including the lower frame, side panels, upper curved shell, door, window area, and connection points between different components. Our team will use SolidWorks to model the structural parts before 3D printing and assembling them. The structure needs to provide enough support for the internal systems while keeping the vehicle lightweight, stable, and practical to manufacture.

Requirements

Functions

The functions of the structural components are to:

1. Carry and support the rider by providing a stable cabin frame and floor structure.
2. Protect the rider and internal components from rain, snow, wind, and minor external impacts through the enclosure, side panels, and upper canopy.
3. Provide transparent glazing or window panels so the rider has adequate visibility during commuting.
4. Allow the rider to enter and exit the cabin through a single-sided door that can be opened and closed securely.
5. Support the usual items needed during commuting, such as a bag, books, laptop, lunch, coat, or other small personal belongings.
6. Provide suitable mounting locations for other systems, such as the rear-wheel drive components, air-conditioning unit, lighting, and anti-theft features.

Objectives

The design objectives of the structural team are to:

1. Maximize vehicle stability during commuting by designing a rigid and balanced frame that can support the rider, cabin, and internal components during straight movement and turning.
2. Minimize the risk of rider injury during minor collisions or loss of control by developing a structure that can absorb or resist small impacts while maintaining the rider’s protected space.
3. Minimize structural weight while maintaining sufficient strength so that the vehicle remains efficient, easy to maneuver, and capable of carrying the rider and required components.

Constraints

The design of the structural team must meet the constraints:

1. The cabin must provide enough internal space to fit a 360 mm rider model.
2. The vehicle structure must follow the planned dimensions, including an approximate width of 150 mm and a wheelbase of about 235 mm.
3. The parts must be designed with suitable dimensions and tolerances so they can be successfully 3D printed and assembled.
4. The structure must avoid overly thin or fragile sections because these parts may break during printing, assembly, or testing.
5. The design must allow access to the internal components for assembly, testing, repair, and adjustment.

The Design：

Initial Design:

Initial Design

Our initial structural design used a fully integrated body structure with equal-sized front and rear wheels. The upper frame was designed as one continuous shell, with a curved front section connected directly to the roof and rear body. This created a streamlined and enclosed shape that could protect the rider and internal components.

However, because the front, rear, and roof sections were connected as one piece, the upper body could not be opened or removed separately. This made it more difficult to access, install, repair, or replace the components inside the vehicle. The one-piece structure could also be more difficult to manufacture and assemble through 3D printing. These limitations led us to develop a more modular final design with separate structural parts and improved accessibility.

Based on this initial structural concept, we then designed a vacuum forming model for the roof section. However, this model created another major issue. During the design process, the roof model was made too large, so it could not be 3D printed under our current manufacturing conditions. At the same time, the actual size of the model also exceeded the maximum size that could be used for vacuum forming.

Because of these limitations, we decided to revise both the vehicle sketch and the dimensional data of the entire roof structure. This became one of the main reasons why we moved from the initial design to the final design. In the final version, the roof and outer shell were reduced in size and separated into more manageable components, making the structure easier to print, form, assemble, and modify.

Final Design:

Our final structural design uses a hybrid two-part body. The lower section consists of a frame and opaque side panels, which provide support for the rider, wheels, rear-wheel drive system, air-conditioning unit, and other internal components. The upper section uses a curved shell or canopy to enclose the cabin and protect the rider from poor weather.

The cabin includes transparent window panels to maintain visibility for the rider. A single-sided door is included to allow entry and exit, and it may use a magnetic strip to keep the door closed while still making it easy to open. The design is intended to fit a 360 mm rider model inside the cabin, with the overall vehicle width planned at approximately 150 mm and the wheelbase at approximately 235 mm.

The structural components will be modelled in SolidWorks as separate parts before 3D printing. Separating the frame, side panels, canopy, door, glazing, and connection points makes the design easier to manufacture, assemble, and modify. After printing, the parts can be tested for fit, strength, stability, and accessibility. If the printed model is too heavy, too weak, or difficult to assemble, the SolidWorks model can be adjusted before producing the final version.

The final structural design uses a modular cabin structure instead of the initial one-piece body design. In the initial concept, the roof, front curved section, and rear body were connected as one continuous shell. Although this created a more complete enclosed appearance, it also made the design harder to 3D print, vacuum form, assemble, and modify.

To improve manufacturability and flexibility, the final design separates the cabin into several main components: the door, cabin shell, top shell, final outside cabin shell assembly, magnet, and final design sketch. This allows each part to be modelled, manufactured, adjusted, and tested separately.

The door is designed as an independent component with a window opening for side visibility. A magnet is included to represent a simple magnetic closing system.

The cabin shell forms the main enclosed body of the prototype. Acrylic is used for this component to demonstrate transparency and represent the glazing area. This helps maintain rider visibility while also showing the internal space and structural relationships.

The top shell is designed as a separate curved upper cover. Compared with the larger upper shell in the initial concept, the final top shell is smaller, simpler, and lighter. This improves 3D printing feasibility, reduces material usage, and makes the part more suitable for vacuum forming.

We selected the final design because its modular structure improves manufacturability, assembly flexibility, weight control, and future modification while maintaining the enclosed cabin concept.

Table 2: Final Structural design

Door	Cabin shell
Final outside cabin shell assemble	Top shell
Magnet	Final Design

Thermal Design

The thermal subsystem is designed to improve indoor thermal comfort by reducing heat gain, increasing airflow, and supporting active cooling when needed. The design focuses on three main strategies: air conditioning, shading, and natural ventilation. These strategies work together to keep the indoor space cooler, reduce energy use, and improve user comfort.

Requirements

Functions

The functions of the thermal components are to:

1. Reduce indoor temperature.
2. Improve air circulation.
3. Block excessive sunlight.
4. Support air conditioning installation.
5. Maintain user comfort.

Objectives

The design objectives of the thermal team are to:

1. Maximize user thermal comfort.
2. Maximize airflow through the system.
3. Minimize heat gain from sunlight.
4. Minimize power consumption.
5. Minimize manufacturing and maintenance cost.

Constraints

The design of the thermal team must meet the constraints:

1. The fan and shading components must fit inside the available design space.
2. The system must not block user movement or access.
3. The design must be safe for users and must not expose moving fan blades.
4. The cooling system must not overload the power supply.
5. The structure must be strong enough to support the fan and shading components.
6. The design must stay within the project budget.

The Design

Stage 1: Cooling Strategy Comparison

Alternative 1: Fan Cooling only

This option uses a cooling fan to improve airflow and remove heat from the heat sink and electronic components. No shading component is added.

Advantages:

• The cooling fan improves airflow and helps remove heat from the heat sink and electronic components.
• The system structure becomes simpler with fewer components.
• Removing an extra heat source reduces the risk of overheating and temperature instability.
• Manufacturing and maintenance costs are lower.
• The overall reliability of the system is improved for long-term stable operation.

Disadvantages:

• The cooling effect mainly depends on fan airflow.
• It does not reduce heat gain from direct sunlight.

Alternative 2: Fan Cooling with Shading Component

This option uses a cooling fan together with a shading component. The fan removes heat from the electronic components, while the shading component blocks excessive sunlight and reduces heat gain.

Advantages:

• The shading component reduces heat gain from sunlight.
• It can improve user thermal comfort when there is strong sunlight.
• The cooling fan still improves airflow and helps remove heat from electronic components.
• It provides better sunlight control than fan cooling only.

Disadvantages:

• The shading component requires more space.
• The system structure becomes more complex because an extra component is added.
• Installation becomes more difficult.
• The shading component may block user movement or access depending on the final layout.
• Manufacturing and maintenance costs are higher than fan cooling only.

Evaluation

The two alternatives were evaluated based on power consumption, safety, cost, system complexity, reliability, thermal performance, and ease of installation.

Evaluation of Stage 1

Criteria	Alternative 1: Fan Only	Alternative 2: Fan + Shading
Low power consumption	5	4
Safety	5	4
Low cost	5	3
Simple structure	5	3
Reliability	5	4
Thermal performance	4	5
Easy installation	5	3
Total	34	26

Alternative 1 has the highest total score. Alternative 2 is also rejected because the shading component requires more space, makes installation more difficult, and adds extra cost. Therefore, Alternative 1 is selected as the final thermal design.

Stage 2: Fan Location Comparison

After selecting fan cooling only, three possible fan locations were compared: front, side/back, and bottom.

Alternative 1.1: Fan Placed at the Front

This option places the cooling fan at the front of the housing. The fan brings air into the system and pushes airflow toward the electronic components and heat sink.

Advantages:

• The fan can bring fresh air directly into the system.
• It is easy to access for inspection and maintenance.
• It can improve airflow near the front opening.

Disadvantages:

• The fan is more exposed to dust, damage, or user contact.
• It may affect the appearance of the housing.
• It may interfere with front space or other components.

Alternative 1.2: Fan Placed at the Back

This option places the cooling fan at the back of the housing. The fan pulls warm air away from the heat sink and electronic components, then pushes the heated air out of the system.

Advantages:

• The fan can remove hot air directly from the electronic components.
• It is less exposed than a front-mounted fan.
• It does not take space at the bottom of the housing.
• It has good cooling performance and simple installation.

Disadvantages:

• It may require a side or back opening for the air outlet.
• If the fan is placed too far from the heat sink, heat removal may become less effective.

Alternative 1.3: Fan Placed at the Bottom

This option places the cooling fan at the bottom of the housing. The fan pushes air upward through the system and helps cool the electronic components from below.

Advantages:

• The bottom fan can support upward airflow.
• It does not take space on the front or side of the housing.
• The fan is hidden under the housing, so the appearance is cleaner.

Disadvantages:

• The fan may collect dust more easily.
• It may be harder to clean or maintain.
• The fan may be blocked if the housing is too close to the ground.
• The airflow may be weaker if there is not enough clearance under the system.

Evaluation of Stage 2

Criteria	Front Fan	Back Fan	Bottom Fan
Airflow effectiveness	4	5	3
Safety	3	5	4
Easy installation	4	5	3
Easy maintenance	5	4	2
Low dust risk	3	4	2
Cooling performance	4	5	3
Total	23	28	17

Final Design

The final thermal design uses Alternative 1.2: fan cooling only, with the cooling fan placed at the back of the housing. This design improves airflow, removes heat from the heat sink and electronic components, and keeps the system simple, safe, low-cost, and reliable.

Thermal Design

Heat Sink Fan Module	Sketch of Alternative 1.1
Sketch of Alternative 1.2	Sketch of Alternative 2
Sketch of Alternative 1.3

Coding

Overview of the Arduino code: The code for this project is divided into two parts: the remote control and the electric bicycle itself.

The remote control transmits commands, including controls for direction, headlight on/off, and horn; it features an LED screen that displays speed and function status indicators; and it includes a master power switch for the entire remote control.

The coding team is responsible for developing the software logic and communication system of the RC transmitter. Our main role is to program the microcontroller to read all user inputs, process commands, and wirelessly transmit them to the vehicle using the nRF24L01 module. The system is built around a master power control where the joystick, horn button, and car light button operate independently once the transmitter is powered on.

The joystick controls steering and speed, the horn button activates the sound system, and the car light button toggles the vehicle lights. The coding team also manages the LED display, which shows the vehicle speed and temporary system status messages. The program continuously reads inputs, generates control packets, sends commands to the RC car, and updates the display in real time to ensure smooth and responsive vehicle operation.

The receiver implements the firmware for a wireless RC electric bike. The receiver decodes control packets transmitted over a 2.4 GHz nRF24L01+ radio link and translates them into real-time actuation of the vehicle's motor, steering servos, lights, buzzer, and Peltier cooling module. A rear-facing ultrasonic sensor provides autonomous collision prevention when the vehicle reverses. If the radio signal is lost for more than 500 ms, the system automatically enters a safe state, halting all outputs until communication is restored.

Objectives

1.      The controller should reliably control the electric bicycle or RC vehicle through wireless communication.

2.     The controller should be user-friendly, with simple and organized placement of the joystick, screen, and buttons.

3.      The system should provide smooth movement control by using a 2-axis joystick for steering and speed input.

4.     The controller should support additional vehicle functions, including horn control and car light control.

5.      The LCD screen should display real-time speed and system status information clearly.

6.     The overall control system should remain efficient, responsive, and practical for implementation with Arduino and the nRF24L01 module.

Functions

1.      Read joystick values for steering and speed control.

2.     Convert joystick input into movement commands for the vehicle.

3.      Read the horn button input and activate the horn while pressed.

4.     Read the light button input and toggle the headlights or indicator lights on and off.

5.      Check the master power switch and enable or disable the transmitter system.

6.     Send command packets wirelessly through the nRF24L01 module.

7.      Update the LCD display with speed and temporary system status messages.

8.     Send a stop command when the transmitter power is turned off.

9.     Decode the transmitted ControlPacket on the receiver side and update the motor, steering servos, lights, buzzer, and Peltier module in real time.

10.   Automatically enter a safe state when no valid radio packet is received within the timeout period.

11.    Insert a short break delay before changing motor direction between forward and reverse to protect the drivetrain.

12.   Use the rear ultrasonic sensor to detect obstacles during reverse motion and block unsafe movement when necessary.

Constraints

1.      The transmitter must be small enough to be held comfortably by hand.

2.     The joystick and buttons must be placed in easy-to-reach positions.

3.      The system must respond quickly with minimal delay.

4.     The wireless connection must remain stable within the required operating range.

5.      The LCD display must be clear and easy to read.

6.     The battery must provide enough power for the transmitter circuit.

7.      The code must stay simple, organized, and easy to modify.

8.     All components must fit inside the transmitter body.

9.     The motor driver must use digital enable and direction control only, so PWM speed control is not implemented.

10.   The two steering servos cannot be updated at exactly the same time, so a short sequential delay is required.

11.    The ultrasonic sensor only monitors the rear of the vehicle and only works during reverse.

12.   Short radio interference may trigger the safe-state timeout even when communication is quickly restored.

13.   After obstacle stop is triggered, reverse remains blocked for a fixed short period before normal reverse control can resume.

14.   Serial debugging output must be rate-limited to avoid blocking the main control loop.

The Designes

Transmitter Floatchart	Receiver Flowchart
Transmitter

Old design	New design

Transmitter code	Receiver code

Old and New Design Comparison

Criteria	Old design	New design	Why the new design was chosen
Overall shape	Rounded controller concept, but the structure and dimensions are not clearly defined.	More structured enclosure with clearer dimensions and multiple views.	Easier to manufacture and assess because the body structure is more fully defined.
Component placement	Main parts are sketched, but their arrangement is less organized.	Joystick, LCD, horn, light button, switch, and screws have clearer positions.	Improves usability and supports a more user-friendly controller.
Design detail	Mainly shows appearance as an early concept sketch.	Shows more construction detail for the final layout.	Provides stronger support for implementation, not only appearance.
Assembly planning	Mounting and enclosure details are unclear.	Back plate and screw positions are shown more clearly.	Makes fabrication and assembly more practical.
Requirement support	Shows the controller idea, but does not clearly integrate all functions.	Better demonstrates how the display and controls fit into one controller body.	Matches the required hardware and functional integration more effectively.
Final decision	Useful as an early concept.	Selected as the final design.	It is more complete, practical, and better aligned with the project objectives, functions, and constraints.

Evaluation of Design Alternatives

To evaluate the two controller concepts, the old design and the new design were compared in terms of layout clarity, component organization, usability, manufacturability, and how well each design supports the project requirements. The old design was a useful early concept because it showed the general controller shape and the idea of including a joystick, screen, horn, and light controls. However, its dimensions, internal arrangement, and construction details were still not clearly defined. In contrast, the new design provides a more structured enclosure with clearer dimensions and a better-defined front, back, and side layout. It also shows the positions of the joystick, LCD screen, horn button, light button, power switch, and mounting screws more clearly, making the design easier to build, assemble, and evaluate.

The new design was selected because it better matches the project objectives and constraints. It provides a more organized control layout, improves screen visibility, and makes the controller easier for the user to operate. It also gives a clearer plan for fitting all required components inside the transmitter body, which reduces uncertainty during fabrication and assembly. Overall, the new design is more complete, practical, and suitable for implementation than the old design.

Appendices

PDF Drawings：

1. Assembly Drawing:

File:FINAL FRAME.pdf 2. Part Drawing： File:Drawing for Parts.pdf

Sustainability Report：

File:SustainabilityXpress.pdf

Gantt Chart：

Here is the Gantt chart of our team to track down our progress:

Gantt Chart of team 4

Arduino Code：

File:Team4 coding.docx

References：

Add your reference list here.

About Us

Sub-teams:

Documentation
Zilu Wang Documentation sub-team member I am Zilu, a member of the documentation sub-team of Team 4. I am responsible for formatting the team's Wiki page, organizing content from other sub-teams, and creating presentation slides and visual renderings to clearly communicate our design. Through this project, I have improved my skills in documentation and technical communication.	Yuru Cao Documentation sub-team member I am Yuru, also part of the documentation sub-team. My role is to help compile design information, edit and structure the Wiki content, and support the visual presentation of our project. Working on this project has helped me develop better organization and collaboration skills.
Electrical/Electronic
Yuzhong Chen Electrical sub-team member I am Yuzhong, a member of the electrical sub-team of Team 4. I am responsible for transmitter design including buttoms, switch, and autonomous flowchart , and extra feature.	Zitong Liu Electrical sub-team member I am Zitong, a member of the electrical sub-team of Team 4. I am responsible for receiver design including Fan circuit, Peltier module, drive and steering circuit.
Zhanbo Zhang Electrical sub-team member I am Zhanbo Zhang, one of the members of the electrical sub-team of Team 4. I am responsible for setting up and testing the receiver on the rod. My work includes wiring the receiver module, checking signal reception, and making sure it can correctly receive commands from the transmitter.
Mechanical
Yuhe Luo Mechanical sub-team member I am Yuhe Luo, one of the member of the mechanical sub-team of Team 4. I am responsible for the designing of front steer system and power transmissions.	Yuyang Xia Mechanical sub-team member I am Yuyang Xia, one of the member of the mechanical sub-team of Team 4. I am responsible for the designing of front steer system and power transmissions.
Structural
Xilin Wang Structural sub-team member I am Xilin, a member of the structural sub-team of Team 4. I am responsible for designing and improving the vehicle body, developing accessible structural features, and helping with the SolidWorks model. Through this project, I have improved my structural design, problem-solving, and teamwork skills.	Yujia Zhang Structural sub-team member I am Yujia Zhang, a part of the Team4 structure sub-team. I am responsible for provide  idea in the skeleton design of E-cycle, make suggestion of E-cycle shell & door material, and create models for components. Through this project, I improved my ability to evaluate design ideas based on real manufacturing limits and practical engineering needs.
Thermal
Tingkai Qi Thermal sub-team member I am Tingkai Qi, a member of the thermal sub-team in Team 4. I contributed to the thermal design by focusing on cooling, airflow improvement, shading, and natural ventilation. I also helped document the design and explain the simulation results.
Coding
Xuanying Zhang Coding sub-team member I am Xuanying Zhang, one of the member of coding sub-team in team 4. I designed and wrote the receiver program and drew up the initial version (File:Old design.jpg ) of the transmitter design. Through this project, I learned how to use SolidWorks, write and debug programs using Arduino, and collaborate with others.	Mohammad Anwar Jmaa Coding sub-team member I am Mohammad Anwar Mohammad Riad Jmaa, a member of the coding sub-team in Team 4. I was responsible for designing and writing the transmitter code and creating the new transmitter design for the controller system. Through this project, I improved my programming, problem-solving, and design skills while learning how to integrate hardware and software components effectively and collaborate with my teammates.

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