10 Sep

For explicit-landmark optimization-based SLAM systems, the skeleton of SLAM backend can be considered as a nonlinear least-squares optimization problem, or \((\hat{s}_{1:n}, \hat{\lambda}) = {arg\,min}_{({s}_{1:n}, {\lambda})}\, \sum_{t=0}^{n-1} \| s_{t+1} - f(s_t, u_t) \|^2_{Q} + \sum_{t=1}^n \| o...

09 Sep

I determined the change in the signal strength of the network due to metal interference. I used the same setup as the previous experiment. Received Signal Strength Indicator (RSSI) was used as a metric to measure signal strength. ESP32 WIFI (2.4 GHz) A point to point connection was established u...

09 Sep

I've integrated all the components and tested the manual control. The necessary components for manual control are: Control board: NodeMCU Motor driver: tb6612fln Motor + 55mm propeller 1000 mAh 3.7v Li-po battery This hardware configuration allows the blimp to perform these operations...

08 Sep

Project goal: design toolbox An example design paradigm (Library #2) is shown below, with all edges simply-supported and distributed load across the entire top surface as an example. This week I have been searching existing methods/solutions for calculating reaction load on edges of a plat...

07 Sep

Objective To observe how a designer (especially non-engineer) would express design intent using free-hand gesture through object manipulation Manipulation types: (general: ) overall scale, specific angle partial scale entangled angle discrete property Experiment instruction Look at...

02 Sep

Motivation The objective of the experiments was to test various communication methods (different protocols and frequency) under different conditions. I am using the following communication devices – ESP32 Wifi Module – 2.4GHz ESP32 Bluetooth Low Energy – 2.4 GHz NRF24L01 module - 2.4GHz Lo...

02 Sep

I have been working on taking power consumption measurements of the arduino nano control board, as well as the motors and wireless receivers. Unfortunately, Amazon had some problems with delivery and I was unable to receive the current reading board and the motor driver this week. I was planning on...

01 Sep

During the blimp WIFI manual control experiment, I noticed some interesting phenomena. Even the following experiments are just some failure examples, I still can learn something from it. Failure experiment 1: The reason the balloon hit the wall was because human operational mistakes. When you...

01 Sep

High-Level View: computational design of foldable structures Updates During the past week, I have been working on finidng numerical solutions for plate failures under different boundary conditions and loading conditions. For a plate, there are three types of boundary conditions: (1) simply...

01 Sep

Presentation video of our latest work, "Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming", accepted for RA-L and IROS 2020, is now on YouTube! Our new motion planner is able to generate various trajectories for multi-limbed robots under sto...