13 Aug

Wenzhong and I have been working on the paper named Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications during the past week. We have submitted the paper and fingers crossed. Special thanks to Wenzhong for his suggestions and helps. Also thanks everyone...

06 Aug

There are several existing visual-inertial SLAM implementations. Among all, I pick okvis as our development basis. However, the okvis project is too well-written with sophisticated implementation. There are also some building problem. In summary, it is pretty hard for us to develop, especially fro...

06 Aug

Robot Car And Paper Preparation This week, I built two fully functional wheeled robot cars as a tool to demonstrate the functionality of the corrugated structure. Figures Introduction Wheeled robot car Demo Videos Robot car with flat-plane wheels Robot car with corrugated wheels R...

05 Aug

Sampling-based motion planning approaches, such as Probabilistic RoadMap Method (PRM) and Rapidly-exploring Random Trees (RRT) , avoid the discretization problems of graph-based algorithms by randomly sampling the continuous domain. This scales more effectively to high-dimensional problems, but make...

04 Aug

For my latest work, I heavily used CasADi to formulate the stochastic nonlinear optimization problem. Here, I'd like to illustrate several preliminaries and tips that hopefully may be useful for others. CasADi is an open-source wrapper mainly for nonlinear programmings (NLPs), although you can...

02 Aug

This past week, I have been researching different camera modules that can be used on the blimps in the FORAY project. The main challenge when it comes to determining the best camera module for our use case is choosing one that is a light as possible without sacrificing performance capability in term...

31 Jul

Simulink Model I worked on the Coriolis force module in the Simulink model. I wrote the MATLAB function that calculates the Coriolis matrix. With the completion of this module, the dynamic model is now complete. The next target is to complete the aerodynamic model. However, the equations we have...

30 Jul

To complete the CoRL submission, I put all the simulation code here. The simulation code compares 4 algorithms, including EKF, LG-EKF, hybrid representation, and fully circular representation.

30 Jul

Recently, I've been looking into methods to potentially improve the depth map produced by an Intel RealSense D435i, and OpenCV's disparity filter ([1], [2], [3]) seemed like a good initial starting point. At a high level, after generating a disparity map between left and right camera images vi...

30 Jul

For the past week, I mainly worked on the paper revision for the manuscript entitled "Fabrication-aware Design for Furniture with Planar Pieces". This paper was submitted to Robotica and required a major revision. It is very close to finish the revision. I wil add more modifications after receiving...