16 Sep

#### Clownfish balloon air leakage situation

The problem of air leakage is a problem that every balloon has to face. We need to know and understand the air leakage situation of the blimp that we are going to use in the future. The following two pictures are situation of balloon in day 1 vs. day 28: I recorded some data in the past 28 day...

10 Sep

#### Different thrust configuration on blimps

We designed a reconfigurable gondola and motor beam that could allow us to test different thrust configuration efficiently. Here are two examples: The different configuration that we would like to test: (The following figures are all top view) The research questions that we want...

09 Sep

#### Manual control integration test

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...

01 Sep

#### A summary of the failure experiments

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...

24 Aug

#### Clownfish balloon with propellers (Prototype V0)

I built a prototype version that attached motor propellers on to the clownfish balloon. This experiment is gain more intuition on making the gondola, and testing the speed of clownfish balloon that uses propellers. The experiment set up: Environment Temperature: 21°c Testing space: Length 138...

17 Aug

#### Bluetooth and WIFI remote control motors

Finished the experiment of using bluetooth and wifi to remotely control two motors. Bluetooth + cellphone app: Wifi + cellphone app:

24 Jul

#### Markdown Beginner's Guide

Markdown beginner's guide I'm exploring this Markdown recently and I found it really simple and elegent. So I would really like to share some of what I learnt with everyone. I'll keep it up to date in the future. You can also download Markdown beginner's guide.md file from my git Content W...

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...

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:

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...