Software System In Hyperloop pod

A Seminar Report
on
SOFTWARE SYSTEM IN HYPERLOOP POD

Submitted to
Savitribai Phule Pune University, Pune
In partial fulfillment for the award of the Degree of
Bachelor of Engineering
in
Mechanical Engineering

by

MAYURESH SATISH KASHID

Exam Seat No:-T150360967/ Roll No:-212 & Division:-2

Under the guidance of

PROF.A. R. ATTAR

Department of Mechanical Engineering

STES’s, Smt. Kashibai Navale College of Engineering,
Vadgaon (BK),
Pune, 411 041.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 1

Software System In Hyperloop pod

2018-2019 (SEM-II)

CERTIFICATE
This is to certify that the seminar report entitled "SOFTWARE SYSTEM IN
HYPERLOOP POD " being submitted BY MAYURESH SATISH KASHID (Exam Seat
No:-T150360967 Division:-2) is a record of bonafied work carried out by him/her under the
supervision and guidance of PROF.A.R.ATTAR in partial fulfillment of the requirement for
TE (Mechanical Engineering) 2015 course of Savitribai Phule Pune University, Pune in
the academic year 2018-2019.
Date: / /2019
Place: Pune

Prof.A.R.ATTAR
Guide

Dr. N. P. Sherje Dr. A. V. Deshpande

Head of the Department Principal

This Seminar report has been examined by us as per the Savitribai Phule Pune University,
Pune requirements at Smt. Kashibai Navale College of Engineering, Pune-411 041 . . . .

II

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 2

Software System In Hyperloop pod

ACKNOWLEDGEMENT

The author would like to express his special thanks of gratitude to HIS prof. A. R. ATTAR,
Head of Department Prof. Dr .N.P. Sherje, vice principal Dr. K. R. Borole and principal
Dr. A.V. Deshpande who gave him the golden opportunity to do this wonderful Seminar on
the topic “SOFTWARE SYSTEM IN HYPERLOOP POD”, which also helped him in
doing a lot of Research in the high speed transportation system. and He came to know about
so many new things.

MAYURESH SATISH KASHID

Exam Seat No:T150360967

III

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 3

Software System In Hyperloop pod

ABSTRACT

paper concentrates on software - applied in the Hyperloop pod called Goose 3 [1],
which was developed by the team from University of Waterloo [2] - Waterloop [3]. This
paper is concentrated on roadblocks, that were faced during the design and development
process; to be more specific - building a reliable and scalable infrastructure that allows for
complete control of the pod throughout the launch. In the pod, electronics and software play
a crucial role, as traveling at high velocities require immediate response to real-time vehicle
conditions obtained from sensors on-board, which raises it’s own unique challenges.
The conventional modes of transportation of people consists of four unique types and
that are rail, road, water, and air. These modes of transport tend to be either relatively slow,
expensive or a combination of both. Hyperloop is a new mode of transport that seeks to
change this pattern by being both fast and inexpensive for people and goods. Hyperloop is a
proposed mode of passenger and freight transportation that propels a capsule-like vehicle
through a near-vacuum tube at more than airline speed. The pods would accelerate to
cruising speed gradually using a linear electric motor and glide above their track using
passive magnetic levitation or air bearings. Hyperloop consists of a low pressure tube with
capsules that are transported at both low and high speeds throughout the length of the tube.
The capsules are supported on a cushion of air, featuring pressurized air and aerodynamic
lift. Passengers may enter and exit Hyperloop at stations located either at the ends of the tube,
or branches along the tube length. It quickly becomes apparent just how dramatically the
Hyperloop could change transportation, road congestion and minimize the carbon footprint
globally. With the Hyperloop, extremely fast, inexpensive intercity travel would be widely
accessible. If both people and goods can move more quickly and comparatively cheaply,
rapid growth is a logical outcome.

IV

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 4

Software System In Hyperloop pod

TABLE OF CONTENTS

Abstract IV
List of Figures VI
1. INTRODUCTION .............................................................................................7

2.MOTIVATION BEHIND PROJECT .......................................................... 8

2.1 AIM .................................................................................................................... 8

2.2 OBJECTIVES .................................................................................................. 8

3 .LITERATURE SURVEY OF SEMINAR TOPIC/TITLE ................. 10

4. NAVIGATION SYSTEM ...........................................................................11

5.CONTROL PANEL ........................................................................................ 12

6.BASIC PRINCIPAL OF HYPERLOOP……………………………..14

7.CONSTRUCTION……………………………………………………..15

7.1 TUBE………………………………………………………………….15

7.2 CAPSULE……………………………………………………………..15

7.3 COMPRESSOR………………………………………………………..16

7.4 SUSPENTION…………………………………………………………16

7.5 PROPULSION…………………………………………………………16

8. WORKING OF HYPERLOOP SYSTEM…………………………….16

9.MERITS AND DEMERITS OF HYPERLOOP SYSTEM .................. 19

9.1 MERITS…………………………………………………………………19

9.2 DEMERITS……………………………………………………………..19

10.FUTURE WORK………………………………………………………20

11 .CONCLUSION................................................................................................ 22

12. REFERENCES…………………………………………………….......23

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 5

Software System In Hyperloop pod

LIST OF FIGURES

Figure 1-Hperloop technology .................................................................................................. 7

Figure 2-System overview showing communication methods………………………..9

Figure 3-Navigation system outline…………………………………………………..12

Figure 4-Operating principle of hyperloop……………………………………………14

Figure 5-Construction of tube………………………………………………………….15

Figure 6-Arrangment in capsule………………………………………………………..16

Figure 7-Working of hyperloop system…………………………………………………17

Figure 8-Air through bypass tunnel……………………………………………………..18

Figure 9-Pod-tube-dispatcher communicatuion system………………………………….21

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 6

Software System In Hyperloop pod

1. INTRODUCTION

Hyperloop is a completely new mode of fastest transportation. Hyperloop is firstly

proposed by Elon musk and a team of engineer from tesla motors and the space exploration
technologies corporation in august 2013. The concept of hyperloop includes travelling people
from one place to another place in a capsule which is propelling at a very high speed. We can
also called hyperloop as a solar powered transportation system and it is an alternative of high
speed train. Basically hyperloop is magnetically levitated train which runs inside a long tube
or pipe. It consists of low pressure tube with capsule that is transported at both low and high
speeds. It is driven by linear induction motor and compressor. It includes 28 passenger
pods.for propulsion, magnetic accelerators will be planted along the length of the tube,
propelling the pods forward. The tubes would house a low pressure environment, surrounding
the pod with a cushion of air that permits the pod to move safely at such high speeds, like a
puck gliding over an air hockey table.given the tight quarters in the tube, pressure buildup in
front of the pod could be a problem. The tube needs a system to keep air from building up in
this way. Musk’s design recommends an air compressor on the front of the pod that will
move air from the front to the tail, keeping it aloft and preventing pressure building up due to
air displacement. A one way trip on the hyperloop is projected to take about 35 minutes (for
comparison, traveling the same distance by car takes roughly six hours.) Passengers may
enter and exit hyperloop at stations located either at the ends of the tube, or branches along
the tube length.

Fig 1:-hyperloop technology

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 7

Software System In Hyperloop pod

2. MOTIVATION BEHIND PROJECT

I heard once new technology which is going to use high speed transportation
system is called Hyperloop Technology .This system is not used till date. If we have to go
from one city to another city in less time, then these transport systems should preferable.
Also, travelling time is reduces by this system.

2.1 Aim
Aim of this project is to decrease the travelling time from one city to another city.

2.2 OBJECTIVES
1. It reduces time interval between transportation of two cities.
2. Since there is no use of fossil fuel, it gets conserved.
3. Hence, there is no chance of pollution.
4. Hyperloop system consists no road transportation, hence there is zero chance of
traffic.
5. Because of closed loop there will be very less chances of accidents.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 8

Software System In Hyperloop pod

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 9

Software System In Hyperloop pod

3. LITERATURE SURVEY

Ahmed Hodaib, Samar F. Abdel Fattah (May 2016), discussed the design of a
hyperloop capsule with linear induction propulsion system which is used to accelerate and
decelerate the capsule. They studied that like rotary synchronous motors; linear motors run
on 3-phase power and can support very high speeds. However, there are end effects that
reduce the motor's thrust force. Linear induction motors are thus less energy efficient than
normal rotary motors for any required force output. They also discussed about the
manufacturing of linear induction motor in this paper.[1] Jeffrey C. Chin, Justin S. Gray,
Scott M. Jones, Jeffrey J. Berton, They discussed about the Open-Source Conceptual Sizing
Models for the Hyperloop Passenger Pod in this paper.

They concluded that the refined analysis illuminates several interdisciplinary

couplings that alter two major aspects of the initial concept. First, the pod travel speed and
the tube cross sectional area are linked, forcing the tube size to be to be roughly twice the
diameter of the original specification, in order for the pod to reach Mach 0.8. Second, the
steady-state tube temperature is dominated by ambient thermal interactions unrelated to the
heat generated by the pod compression system.[2]Mark Sakowski (2016) discussed the
current maglev technology along with the theoretical evacuated tube technology and they
concluded that the hyperloop is feasible and if properly designed, has the potential to be
much more efficient in terms of energy usage of pods traversing down the tube.

[3]N. Kayela, (2014) investigated that the hyperloop is a fifth mode of transportation
alongside trains, planes, automobiles and boats. He discussed about the railway track for the
hyperloop, stations for the hyperloop. Also, discussed about the two version of capsule that is
one is passenger only version and another is passenger plus vehicle version.[4] Mohammed
Imran (2016) He focused his study element on the hyperloop technology (the passenger
transport system). He discussed about the two version of hyperloop in that one is passenger
only version and another is passenger plus vehicle version.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 10

Software System In Hyperloop pod

4. NAVIGATION SYSTEM

In order for hyperloop to become a safe method of transportation it must have an accurate
navigation system that will be used to determine the location of the pod in the tube. Fig.
Describes the data flow in navigation system. Note, the navigation system has proved to be a
challenging task due to the restrictions of spacex competition, where no modifications can be
applied to the test tube, which means that the entire navigation system must be completely
self-contained in the pod.to ensure accuracy of the system, an odd number of independent
acceleration sensors will be used to create a basic majority voting system and a kalman filter
[9] will be applied after to remove spikes in data. Finally, for additional accuracy a shaft
encoder will be installed on the main friction drive shaft to read wheel’s rounds per minute
(rpm).

Two other methods have been considered to locate the pod inside the tube. (1) laser range
finder and (2) color sensor and spacex in-tube color stripes. However, laser range finder can
significantly lose its precision at long ranges as track imperfections constantly introduce
changes to pod’s pitch, roll and yaw, which can result in sensor reading wrong distance. As a
solution to possible navigation needs, spacex provided in-tube color stripes that have a single
purpose to allow teams have an in-tube navigation system. However, selecting a color sensor
proved to be a challenge as the range of the sensor has to be adjusted with a third-party lens,
which is difficult to find; and all of the off-the-shelf sensors are designed for close range
operation.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 11

Software System In Hyperloop pod

Fig 3.Navigation system outline

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 12

Software System In Hyperloop pod

5. CONTROL PANEL

To provide with control over the pod during the launch, a control-panel graphical user
interface (gui) will be developed. For best performance with quic packets, a desktop
application will be developed for x64 windows machines. The control panel will provide with
various pod control elements that will primarily be used for testing outside of the competition
tube. While the entire pod launch script is executed from the on-board computers, having
minimal control elements is vital for testing purposes. In addition, the panel will be used for
pod telemetry visualization purposes. Fig.4 shows the proposed control panel GUI.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 13

Software System In Hyperloop pod

6. BASIC PRINCIPLE OF HYPERLOOP

Hyperloop is based on a principle of magnetic levitation. The principle of

magnetic levitation is that a vehicle can be suspended and propelled on a guidance track
made with magnets. The vehicle on top of the track may be propelled with the help of a
linear induction motor.

Fig-4: Operating principle of hyperloop

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 14

Software System In Hyperloop pod

7. CONSTRUCTION

7.1 Tube:

The tube is made of steel. There are two tubes which are welded together side by
side configuration to allow the capsules travel in both directions. The tube will be
supported by pillars. There is a solar arrays are provided on a top of the tubes for the
purpose of power to the system.

Fig-5: Construction of tube

7.2 Capsule:
The capsule can carry 28 passengers at a time and it send at a very high speed and it is
levitated by a high pressure air cushion. The design of capsule is start with the aerodynamic
shape. There are two version of capsule are being considered: a passenger only version and
a passenger plus vehicle version.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 15

Software System In Hyperloop pod

Fig-6: Arrangement in capsule

7.3 Compressor:
The compressor is fitted at the front side of the capsule. It supplies the air to the air
bearings which supports the weight of the capsule. The compressor allows the capsule to
traverse to the low pressure tube without choking the air flow that travels between tube
walls and capsule.

7.4 Suspension:
Air bearing suspension offers stability and extremely low drag at a feasible cost. A stiff air
bearing suspension is superb for reliability and safety. When there is a gap between ski
and tube walls is high then it shows the nonlinear reaction and which results in large
restoring pressure.

7.5 Propulsions:
To accelerate and decelerate the capsule the linear induction motor is used in hyperloop
system. It provides some advantages over a permanent magnet motor. To accelerate the
capsules there is linear accelerators are constructed on a length of the tube. Stators are
placed on the capsules to transfer momentum to the capsules via the linear accelerators.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 16

Software System In Hyperloop pod

8 .WORKING OF HYPERLOOP SYSTEM

Fig-7: Working of hyperloop system

Working of hyperloop system is based on magnetic levitation principle. As we know that the
passenger pad travel through low pressure tube which is pylon-supported tube. In hyperloop
system an air compressor fan is fitted on front side of pod which sucks the air. It transfer high
pressure air front side to the rear side of capsule (pod) and it propel the pod. It creates the air
cushion around the pod, so that the pod is suspended in air within the tube. On the basis of
magnetic levitation principle the pod will be propelled by the linear induction motor. By the
linear induction motor the capsule send from one place to another place to a subsonic
velocity that is slower than the speed of sound. The pod will be self-powered. There is solar
panel fitted on top of the tube. By this solar panel there is enough energy is stored in battery
packs to operate at night and in cloudy weather for some periods. The energy is also is stored
in the form of compressed air. The air between the capsule acts as a cushions to prevent two
capsules from colliding within the tube.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 17

Software System In Hyperloop pod

Fig-8: Air through bypass tunnel

In above figure it shown that the air through the compressor is send to a bypass nozzle at the
rear end of the capsule. If capsule cover too much area of the tube then, the air is not flow
around the capsule and ultimately the entire column of air in the tube is being pushed ahead
of the capsule and because of this there is friction between the air and tube walls is
increases tremendously. Therefore to avoid this problem the compressor is fitted at the front
of the capsule through which the air is flow which will not flow around the capsule and
send it to bypass nozzle.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 18

Software System In Hyperloop pod

9. MERITS AND DEMERITS OF HYPERLOOP

TRANSPORTATION SYSTEM

9.1 Merits:

1. It saves the travelling time.

2. There is no problem of traffic.

3. It is powered by the solar panel.

4. It can travel in any kind of weather.

5. Cost of hyperloop is low.

6. Not disruptive to those along the route.

7. More convenient.

8. Resistance to earthquake.

9.2 Demerits:

1. Turning will be critical.

2. Less movable space for passenger.

3. High speed might cause dizziness in some passenger.

4. Punctured tunnel could cause shockwaves.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 19

Software System In Hyperloop pod

10. FUTURE WORK

Finally, the current system has been built with a single pod in mind (based on SpaceX
competition guidelines). In the real-world application the system will be expanded to many
pods in the tube at a time, which creates the need for inter pod communication, as braking of
one pod, will require the braking of all other pods traveling behind.

Hyperloop Alpha white-paper has theorized a minimum 6km distance between two
pods at any time and a braking distance of 3km for each pod [6]. With these assumptions,
the simplest solution would be to allow interpod communication so that the malfunctioning
pod can notify others about its braking state. However, the following system is reliant of
pod’s on-board computers that are constantly functioning in extreme conditions
(experiencing acceleration or deceleration).

Several sensors will be installed throughout the tube that will be able to track the
position of all pods in the tube at the same time (possible candidates for sensors are laser
sensors due to their vacuum compatibility). In this case, the system will use a similar
approach to dispatcher centers currently used for airplane navigation. Fig. displays the
communication system of the dispatcher and the pods as well as in-tube navigation sensors.
Using several sensors installed throughout the tube hil test rig developed to simulate real pod
launch conditions and act as a complete system integration test combination of time it took a
pod to travel between sensors and the distance between the sensors will produce accurate pod
velocity. The tube will provide the dispatcher with location of every pod in the tube as well
as their speed. In case of one pod braking, the tube will detect braking pod’s deceleration,
will notify the dispatcher, which in turn will signal other pods traveling behind the
malfunctioning pod to break.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 20

Software System In Hyperloop pod

Fig 9 :-pod-tube-dispature communication system

Implementation of such solution will require creation of an Ethernet network

between tube sensors and the dispatcher panel. Note in this case, the dispatcher panel is
an extended (added functionality to handle simultaneous control of multiple pods) version
of control-panel previously described in the paper. The following solution has not been
implemented by Waterloop yet, but has been thoroughly researched.

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 21

Software System In Hyperloop pod

11. CONCLUSION
A high speed transportation system known as Hyperloop and the software and embedded
design of the Goose pod has been developed in this report. Hyperloop Competition from
2015 to 2017. As well as, a complete testing configuration and a look into possible future
improvements that can be made. The system allows for very few points of failure and is
capable of scaling to much larger pods as well as general transferability to other
applications that require remote control over partiallyautonomous vehicles.

We can see the following system being used for control of various devices such as robots,
rockets, trains, ships and more. The entire embedded system has been developed using off-
the-shelf components such as Arduino Mega, Raspberry Pi 3B and Raspberry Pi Zero. All
of the software is published under MIT license on Waterloop’s Github account [5]. The total
cost of the system has been kept under $300 (not including the costs of other embedded and
electrical components such as sensors, batteries and control elements).

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 22

Software System In Hyperloop pod

12. REFERENCES

[1] Ahmed Hodaib, Samar, et al, international journal of mechanical, aerospace,

industrial, mechatronics and manufacturing engineering Vol:10 No:5, (May 2016)

[2] Chin, Jeffrey C.; Gray, Justin S.; Jones, Scott M.; Breton, Jeffrey J. (January 2015).
Open-Source Conceptual Sizing Models for the Hyperloop Passenger Pod (PDF). 56th
AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. January
5–9, 2015. Kissimmee, Florida. doi:10.2514/6.2015-1587.

[3] Goose - is a Hyperloop pod made by Waterloo University team, Goose X, (Web-
page). https://teamwaterloop.ca/racer-goose-ii/

[4]Official web-page of University of Waterloo https://uwaterloo.ca/

[5] Waterloop - team members, Waterloop Team, (Web-

page). https://teamwaterloop.ca/team/

[6] Hyperloop Alpha white paper http://www.spacex.com/sites/spacex/files/

hyperloop alpha.pdf

“SKNCOE, Department of Mechanical Engineering, 2018 - 19” Page 23