23 Jul

#### Foray Blimp Becoming Mobile

Foray Blimp Becoming Mobile Big Picture In order to build the optimal blimp for competition, we are currently focusing on modeling the different parts of the blimp’s movement. Specifically, movement in the horizontal plane and altitude control. In terms of horizontal plane movement, we are seekin...

23 Jul

#### Cubic Spline Smoother Algorithm

A cubic spline is a spline constructed of piecewise third-order polynomials which pass through a set of n control points. According to [1], a cubic spline $$S(x)$$ can be defined as: $$S(x)$$ is a cubic polynomial $$S_j(x)$$ on [$$x_j,x_{j+1}$$], for all $$j = 0,1,...,n-1$$. \(S_j(x) = a...

23 Jul

#### Paper revision - Robotica

For the last week, I worked on paper revision and response letter for the Robotica paper about the integrated design and fabrication strategy for electromechanical systems for robotic systems. Inspired by the reviewer's comments, we created a new connection method to construct inclined out-of-plane...

23 Jul

#### Design of Orthogonally Assembled Double-Layer Corrugated Structures, Based on Maximum Stiffness Requirements

Using the analytical model developed last week, with certain geometry constraints, stiffness of the proposed orthogonally assembled double-layer corrugated structures have been evaluated. Using design parameters optimized from maximum stiffness requirements, a rectangular shape sample and a circular...

22 Jul

#### Gesture tune discrete parameter of object

Objective: Detect gesture as tuning gesture Find discrete parameter of selected object Use gesture to tune the parameter and update the object Implementation Steps Detect hand gesture as tuning gesture (in our current example, we are using thumb-up gesture, it can be customized, and the o...

21 Jul

#### Altitude Model of Blimp on Simulink

Weekly Update - As part of the FORAY team, I worked on building a mathematical model of the blimp on Simulink. I familiarized myself with dynamic equations of the motion of the blimp. Modeling - Tutorial I used to learn the fundamentals of Simulink – http://ctms.engin.umich.edu/CTMS/index.php?e...

21 Jul

#### Network Communication Between Numerous Blimps

This summer I am working with other members of LEMUR on the FORAY project where we are developing a fleet of LTAVs (lighter-than-air vehicles) with a design emphasis on speed and agility that can compete in a game of aerial soccer or Quidditch. Below is the overal structure of the different aspect...

20 Jul

#### Gesture rescale object

Objective: Detect hand gesture as rescaling gesture (need both hands) The scale of selected object changes along with the distance between two palms Implementation Steps Detect hand gesture as rescaling gesture (in our example, defined as palm-to-palm gesture, which can be customized and th...

17 Jul

#### Gesture select object

Objective: When the hand is selecting gesture, cast a ray If the ray hits an object, highlight the object to represent "it is selected" When the hand is confirm gesture, destroy the ray, de-highlight the selected object Usage: only after an object is selected can it be modified Implementa...

17 Jul

#### Way point smoother optimization

I finished the way point smoother optimization algorithm to replace B-spline curve algorithm to make sure the final smoother path will not collide with obstacles. The failure cases: After way point smoother optimization: Other cases using way point smoother optimization: