Closed-Loop Gate Control System:

• Identified failure points in the trailer's original open-loop gate release system, which relied on a static 12.5-second timer and struggled with uneven terrain.  

• Engineered a closed-loop solution by integrating an RCWL-1655 Ultrasonic Sensor to detect ground proximity.  

• Designed and manufactured custom 3D-printed mounts with tight tolerances to securely clamp the sensor module and its control board to the trailer gate and railing.  

• Programmed the ESP32 microcontroller using the Arduino IDE to process sensor data, incorporating debouncing logic (requiring 3 consecutive detections) and a 1-second delay to accommodate rough terrain.  

• Successfully validated the system through field testing on uneven farm paths and simulated obstacles.  

ArUco Marker Mounting Stands:

• Addressed the mechanical failure caused by high-vibration off-road transportation of ArUco marker stands used to facilitate agricultural robot navigation onto trailer. 

• Upgraded the fastening system by replacing T-clamps with PVC elbows secured by PVC cement, and applied Loctite thread locker to all M4 fasteners.  

Multi-Device ESP32 Network Communication:

• Overhauled the trailer's communication architecture to eliminate its reliance on a single, hard-coded cellphone hotspot.  

• Integrated a Wi-Fi router into the trailer and programmed the ESP32 with a static IP address.  

• Enabled any authorized lab device connected to the router to send HTTP requests to the microcontroller, drastically improving the efficiency of field testing.