16 Jul

#### How to Structure a ROS Package

Recently I've been developing several ROS packages for my LEMUR x JPL research and, having not touched ROS in earnest since 2015, I've been relearning its philosophy these past few weeks in addition to C++ (which, if I may, is a real programming language -- sorry Python I still love you). ROS uses...

16 Jul

#### Optimization tools for SLAM problems in Python

I wrote a 2D SLAM simulation on Python as a starting point. I implemented the nonlinear least squares (NLS) SLAM. To be specific, it is just to solve: \((\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_t -...

15 Jul

#### An universal mathematical model that can help us model corrugated structures as simple plates

This week, I did quite a lot of literature review and a lot of math to convert the complicated model to a simple but really applicable version. The model can convert the corrugated sturcture to simple plates by redefining the equivalent material properties (Young's modulus mostly). Using this model,...

15 Jul

#### Paper revision

For the past week, I focued on the revision for the Robotica paper, titled 'Robotica_Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems.' It is pretty tricky to address some of the comments. I almost finish the first round revision. The due date i...

13 Jul

#### Gesture grab object at any contact point

Objective: Grab an object when the hand is grabbing and near the object Change object's position and rotation according to hand's position and rotation Release the object when the hand is not grabbing Easy solution (also the method in the previous version of the project): When hand gestu...

10 Jul

#### Bi-directional Target-Oriented RRT Based Path Planning Algorithm

I used 13 maps as the testing maps and implemented my algorithm, parameters of these maps: map name size initial point coordinate goal point coordinate duty cycles warran 1108 * 1301 (740,297) (430,1013) 0.347 map 1 500 * 500 (10,10) (490,490) 0.2444 map 2 500 * 500...

08 Jul

#### Gesture create object from button list

Objective: Use gesture to select an auto-generated button Generate new design object from backend compiler Implementation Steps Detect hand gesture at every frame, when current gesture is the gesture defined for creating (in our example case, gesture "point"), ready for creating. Find...

08 Jul

#### Modeling of Corrugated Origami

For the past few days, I have been studing the mechanical behaviors of accordion shape folded structures. I have also been studying the science of paper sheet, which is quite complicated. I have developed a mathematical model to predict the in-plane stiffness of both single-layered accordion shape f...

02 Jul

#### Motion Planning 0

Motion planning is a key component for robots to realize navigation. A number of great works have been conducted in the world. They are grid-based approaches, sampling-based approaches, and trajectory optimization. I'll summarize the pros and cons of each motion planning algorithms in the future. ...

01 Jul

#### A FORAY into Lighter-Than-Air Vehicles

A FORAY into Lighter Than Air Vehicles How can we create blimps that can outstrip competition in agility and speed? This was the initial question our team was posed with when embarking on this project. To solve it, we began with a "project proposal" outlining what we thought was the best method...