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<!doctype html>
<head>
<meta charset="utf-8" />
<meta http-equiv="X-UA-Compatible" content="IE=edge" />
<title>CAVEMAN</title>
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<link rel="shortcut icon" href="/favicon.ico" />
<!-- <link rel="stylesheet" href="style.css" /> -->
<link href="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.3.0/css/bootstrap.min.css" rel="stylesheet">
<link href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.0/css/all.min.css" rel="stylesheet">
<script src="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.3.0/js/bootstrap.bundle.min.js"></script>
<link rel="stylesheet" href="style.css" />
<link href="https://fonts.googleapis.com/css?family=Raleway:300,400" rel="stylesheet" />
<script>
const glb_filepath = "/3d-assets/buddy.glb";
</script>
<script defer type="module" src="src/homepage.jsx"></script>
</head>
<body>
<script type="text/javascript">
let userImageLink = "/images/buddyfallback.png";
let time_start, end_time, bytesps;
let periodic_progress_update = false;
let firstload = true;
// The size in bytes
let downloadSize = 74360;
let downloadImgSrc = new Image();
downloadImgSrc.onload = function () {
end_time = new Date().getTime();
displaySpeed();
};
time_start = new Date().getTime();
downloadImgSrc.src = userImageLink;
function displaySpeed() {
let timeDuration = (end_time - time_start) / 1000;
bytesps = (downloadSize / timeDuration).toFixed(2);
// console.log(bytesps);
}
let intervalId = null; // Store the interval ID for clearing later
let start_time = null;
function fetchDataAndUpdateUI() {
try {
if(periodic_progress_update)
{
if(firstload)
{
firstload = false;
start_time = new Date().getTime();
// console.log("start_time: %f", start_time);
}
const totalBytes = 18610460;
const curr_time = new Date().getTime();
// console.log("curr_time: %f", curr_time);
// console.log("start_time: %f", start_time);
const time_diff = (curr_time - start_time)/1000;
// console.log("time_diff: %f", time_diff);
const estBytesDownLoad = time_diff * bytesps;
// console.log("Estimated Bytes Downloaded: %f", estBytesDownLoad);
const newProgress = Math.round(500 * estBytesDownLoad / totalBytes);
// console.log("Progress percent: %d", newProgress);
let progress = newProgress > 95 ? 95 : newProgress;
document.getElementById("buddyprogressbar").style.width = progress + "%";
document.getElementById("buddyprogressbar").textContent = progress + "%";
}
} catch (error) {
console.error('Error during periodic update:', error);
// Optionally, stop the interval on error
clearInterval(intervalId);
}
}
intervalId = setInterval(fetchDataAndUpdateUI, 500);
</script>
<div id="headerroot"></div>
<section class="hero-section">
<div class="container px-2">
<div class="row align-items-center">
<!-- Carousel Column -->
<div class="col-lg-6 mb-4 mb-lg-0">
<div class="carousel-container">
<!-- Main Carousel -->
<div id="mainCarousel" class="carousel slide" data-bs-interval="-1">
<div class="carousel-inner">
<div class="carousel-item active main-carousel-item">
<div class="hover-zoom-container">
<img src="./images/buddyrover.jpg"
alt="Buddy the Rover" class="d-block w-100 zoomable-image">
</div>
</div>
<div class="carousel-item main-carousel-item">
<div class="hover-zoom-container">
<img src="./images/DoublePoster_CAVEMAN.jpg"
alt="Expo Poster Part 1" class="d-block w-100 zoomable-image">
</div>
</div>
<div class="carousel-item main-carousel-item">
<div class="hover-zoom-container">
<img src="./images/DoublePoster_CAVEMAN2.jpg"
alt="Expo Poster Part 2" class="d-block w-100 zoomable-image">
</div>
</div>
<div class="carousel-item main-carousel-item">
<div class="hover-zoom-container">
<img src="./images/team.jpeg"
alt="Team Photo After Expo" class="d-block w-100 zoomable-image">
</div>
</div>
</div>
</div>
<!-- Thumbnail Navigation -->
<div class="thumbnail-container">
<img src="./images/buddyrover.jpg"
alt="Thumbnail 1" class="thumbnail active" data-slide="0">
<img src="./images/DoublePoster_CAVEMAN.jpg"
alt="Thumbnail 2" class="thumbnail" data-slide="1">
<img src="./images/DoublePoster_CAVEMAN2.jpg"
alt="Thumbnail 3" class="thumbnail" data-slide="2">
<img src="./images/team.jpeg"
alt="Thumbnail 4" class="thumbnail" data-slide="3">
</div>
</div>
</div>
<!-- Content Column -->
<div class="col-lg-6">
<div class="content-section ps-lg-5">
<h1>CAVEMAN</h1>
<h2>Senior Design Project<br>University of Pittsburgh<br>Spring 2025</h2>
<div class="bullet-points mb-3 mx-auto">
<div class="bullet-point">
<i class="fas cavemanicon"></i>
<span>Autonomous Cave-Mapping Robot</span>
</div>
<div class="bullet-point">
<i class="cavemanicon"></i>
<span>Custom Chassis, Hardware, & Control</span>
</div>
<div class="bullet-point">
<i class="fas cavemanicon"></i>
<span>13+ Actuators & Sensors</span>
</div>
<div class="bullet-point">
<i class="cavemanicon"></i>
<span>5 People, 3 Months, All from Scratch</span>
</div>
</div>
<p class="description">
From idea to final product, our team developed this robot over the course of 1 college semester.
Utilizing a custom PCB & Embedded Control, ROS2, and Computer Vision, this robot autonomously navigates cave environments.
With tireless development and testing, we integrated all facets of engineering and design to create this functional rover.
</p>
<div class="row">
<div class="col">
<a href="#learningmore">
<button class="btn btn-primary cta-button">
Learn More <i class="fas fa-arrow-right ms-2"></i>
</button>
</a>
</div>
<div class="col">
<a href="/contact/">
<button class="btn btn-primary cta-button">
About Us <i class="fas fa-user ms-2"></i>
</button>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- Zoom Modal -->
<div id="zoomModal" class="zoom-modal">
<span class="close-zoom" data-bs-dismiss="zoomModal">×</span>
<div class="zoom-content">
<img id="zoomedImage" class="zoomedImage" src="" alt="Zoomed Image">
</div>
</div>
<hr class="postherosection">
<br>
<br>
<section class="hazard-section text-white my-4" id="learningmore">
<div class="container-fluid h-100">
<div class="row h-100 align-items-center">
<!-- Image Section - Left on desktop, Top on mobile -->
<div class="col-lg-6 col-12 order-2 order-lg-2 mb-4 mb-lg-0">
<div class="image-container position-relative text-center">
<!-- Base image placeholder -->
<div class="rounded-3 mx-auto d-flex align-items-center justify-content-center" style="width: 100%; max-width: 600px; height: 600px;">
<img src="images/cave1.jpg"
alt="Cave Hazard Image">
</div>
<!-- Flashing hazard sign overlay -->
<div class="position-absolute top-50 start-50 translate-middle hazard-flash">
<!-- Hazard Sign Emoji -->
<div style="font-size: 16rem;">⚠️</div>
</div>
</div>
</div>
<!-- Text Section - Right on desktop, Bottom on mobile -->
<div class="col-lg-6 col-12 order-1 order-lg-1">
<div class="text-content px-lg-3 px-1 mx-auto text-center">
<!-- First large line -->
<div class="container-fluid p-3" id="learningmore">
<div class="row align-items-center justify-content-center mx-auto">
<div class="col-12">
<div class="cave-warning-container d-flex py-4 text-center mx-auto">
<div class="d-flex align-items-center mx-auto">
<div class="row align-items-center justify-content-center mx-auto">
<div class="col-auto">
<span style="white-space: nowrap;">Caves are </span>
</div>
<div class="col-auto">
<div class="animated-word-container d-flex align-items-center justify-content-center">
<span class="animated-word">dangerous</span>
<span class="animated-word">unlit</span>
<span class="animated-word">unstable</span>
<span class="animated-word">unpredictable</span>
<span class="animated-word">treacherous</span>
<span class="animated-word">unexplored</span>
<span class="animated-word">unmapped</span>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
<!-- Second large line -->
<h1 class="title"><b>We want to keep people out of danger!</b></h1>
<h1 class="title">We want to explore and map caves!</h1>
</div>
</div>
</div>
</div>
</section>
<div class="container-xs">
<div class="row">
<div class="col-xl-8 mx-auto text-center">
<div class="section-title">
<br>
<h1 class="title"><b>Introducing CAVEMAN</b></h1>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto text-center">
<div class="section-title">
<h1 class="title"><b>C</b>ave <b>A</b>utonomous <b>V</b>ehicle for <b>E</b>xploration, <b>M</b>apping, <b>A</b>nd <b>N</b>avigation</b></h1>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto my-5 text-center">
<div class="section-title">
<div class="video-container">
<iframe src="https://www.youtube.com/embed/X-nHYFIHVD8?si=-OO9j7dLnNRfjvOw" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
</div>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto mt-4 text-center">
<div class="section-title">
<br>
<br>
<h1 class="title">Meet Buddy!</h1>
</div>
</div>
</div>
<div class="row">
<div class="col-md-5 mx-auto">
<div class="canvassquareparent">
<div class="canvassquare" id="buddycanvas"></div>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto mt-1 text-center">
<div class="section-title">
<br>
<h1 class="title">Check out the Maps Buddy Created:</h1>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto mb-5 mt-4 text-center">
<div class="section-title">
<div class="container">
<div class="row row-cols-lg-12">
<div class="col my-1">
<a href="/maps/"><button class="p-3 m-1 btn btn-primary btn-lg w-100 h-100">Generated Maps</button></a>
</div>
</div>
<br>
<br>
</div>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto mt-1 text-center">
<div class="section-title">
<br>
<h1 class="title">Learn more about our process!</h1>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto mb-5 mt-4 text-center">
<div class="section-title">
<div class="container">
<div class="row row-cols-lg-5">
<div class="col my-1">
<a href="/process/#mechdesign"><button class="p-3 m-1 btn btn-primary btn-lg w-100 h-100">Mechanical Design</button></a>
</div>
<div class="col my-1">
<a href="/process/#hwdesign"><button class="p-3 m-1 btn btn-primary btn-lg w-100 h-100">Hardware</button></a>
</div>
<div class="col my-1">
<a href="/process/#lowlevel"><button class="p-3 m-1 btn btn-primary btn-lg w-100 h-100">Low Level Software</button></a>
</div>
<div class="col my-1">
<a href="/process/#ros"><button class="p-3 m-1 btn btn-primary btn-lg w-100 h-100">High Level Control</button></a>
</div>
<div class="col my-1">
<a href="/process/#mapping"><button class="p-3 m-1 btn btn-primary btn-lg w-100 h-100">Mapping</button></a>
</div>
</div>
<br>
<br>
</div>
</div>
</div>
</div>
<div class="row">
<div class="col-xl-8 mx-auto mt-1 text-center">
<div class="section-title">
<br>
<h1 class="title">Special Thanks to:</h1>
</div>
</div>
</div>
</div>
<div class="container mt-4 px-5">
<div class="person-card px-md-3">
<div class="row">
<div class="col-12 col-md-8 info-section">
<div class="person-name">Dr. Samuel Dickerson</div>
<div class="person-job">Vice Chair, ECE Department</div>
<div class="person-company">University of Pittsburgh</div>
</div>
<div class="col-8 col-md-4 mx-auto">
<img src="./images/pittlogo.svg"
alt="Company Logo"
class="company-logo">
</div>
</div>
</div>
<div class="person-card">
<div class="row">
<div class="col-12 col-md-8 info-section">
<div class="person-name">Matthew Dudik</div>
<div class="person-job">VP of Perception Products</div>
<div class="person-company">Carnegie Robotics Laboratory</div>
</div>
<div class="col-8 col-md-4 mx-auto">
<img src="./images/crllogo.png"
alt="Company Logo"
class="company-logo">
</div>
</div>
</div>
<div class="person-card">
<div class="row">
<div class="col-12 col-md-8 info-section">
<div class="person-name">Matthew Csencsits</div>
<div class="person-job">Principal Robotics Software Engineer</div>
<div class="person-company">Mine Vision Systems</div>
</div>
<div class="col-8 col-md-4 mx-auto">
<img src="./images/mvslogo.jpg"
alt="Company Logo"
class="company-logo">
</div>
</div>
</div>
<div class="person-card">
<div class="row">
<div class="col-12 col-md-8 info-section">
<div class="person-name">Dr. Anthony Iannacchione</div>
<div class="person-job">Associate Professor Emeritus of Civil/Environmental Engineering</div>
<div class="person-company">University of Pittsburgh</div>
</div>
<div class="col-8 col-md-4 mx-auto">
<img src="./images/pittlogo.svg"
alt="Company Logo"
class="company-logo">
</div>
</div>
</div>
<div class="person-card">
<div class="row">
<div class="col-12 col-md-8 info-section">
<div class="person-name">Dr. Joseph Samosky</div>
<div class="person-job">Associate Professor Emeritus of Bioengineering</div>
<div class="person-company">University of Pittsburgh</div>
</div>
<div class="col-8 col-md-4 mx-auto">
<img src="./images/pittlogo.svg"
alt="Company Logo"
class="company-logo">
</div>
</div>
</div>
<div class="person-card">
<div class="row">
<div class="col-12 col-md-8 info-section">
<div class="person-name">Dr. Brandon Grainger</div>
<div class="person-job">Co-Director, Pitt Energy GRID Institute & Pitt AMPED</div>
<div class="person-company">University of Pittsburgh</div>
</div>
<div class="col-8 col-md-4 mx-auto">
<img src="./images/pittlogo.svg"
alt="Company Logo"
class="company-logo">
</div>
</div>
</div>
</div>
<button id="scrollupbtn" class="scroll-up-btn btn btn-secondary">
<i class="arrow-up"></i>
</button>
<script>
document.addEventListener('DOMContentLoaded', () => {
// document.addEventListener('touchstart', onTouchStart, {passive: true});
const topbtn = document.getElementById("scrollupbtn");
// console.log(topbtn);
topbtn.addEventListener("click", () => {
window.scrollTo(0,0);
});
window.addEventListener("scroll", () => {
if(window.scrollY > 125) {
topbtn.style.display = "flex";
}
else
{
topbtn.style.display = "none";
}
})
const carousel = document.getElementById('mainCarousel');
const bsCarousel = new bootstrap.Carousel(carousel);
const thumbnails = document.querySelectorAll('.thumbnail');
const zoomModal = document.getElementById('zoomModal');
const zoomedImage = document.getElementById('zoomedImage');
const closeZoom = document.querySelector('.close-zoom');
const zoomableImages = document.querySelectorAll('.zoomable-image');
const hoverZoomContainers = document.querySelectorAll('.hover-zoom-container');
bsCarousel.pause();
// Thumbnail click handlers
thumbnails.forEach((thumbnail, index) => {
thumbnail.addEventListener('click', function() {
// Update active thumbnail
thumbnails.forEach(t => t.classList.remove('active'));
this.classList.add('active');
// Go to corresponding slide
bsCarousel.to(index);
});
});
// Full screen zoom functionality
zoomableImages.forEach(img => {
img.addEventListener('click', function() {
zoomedImage.src = this.src;
zoomModal.classList.add('show');
// Pause carousel
bsCarousel.pause();
// resize zoomed image to fit
let windowAspectRatio = window.innerHeight / window.innerWidth;
let pictureAspectRatio = zoomedImage.naturalHeight / zoomedImage.naturalWidth;
if(windowAspectRatio < pictureAspectRatio)
{
// console.log("WAR: " + windowAspectRatio);
// console.log("PAR: " + pictureAspectRatio);
zoomedImage.style.maxWidth = Math.round(100 * windowAspectRatio / pictureAspectRatio) + '%';
}
// Disable body scroll
document.body.style.overflow = 'hidden';
document.body.style.position = 'fixed';
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});
// Close zoom modal
function closeZoomModal() {
zoomModal.classList.remove('show');
// Re-enable body scroll
document.body.style.overflow = '';
document.body.style.position = '';
}
closeZoom.addEventListener('click', closeZoomModal);
// Close on modal background click
zoomModal.addEventListener('click', function(e) {
if (e.target === zoomModal) {
closeZoomModal();
}
});
// Close on Escape key
document.addEventListener('keydown', function(e) {
if (e.key === 'Escape' && zoomModal.classList.contains('show')) {
closeZoomModal();
}
});
});
</script>
</body>