01 Feb

FORAY - Thoughts about ball gripper

Zhaoliang Zheng

Based on the new rule: No use of adhesives for capturing game balls. We now need to design a ball capture mechanism without using adhesives. Some requirement about this capture mechanism: Functionally, it should be able to easily catch and release the ball From design aspect, it should be l...

28 Jan

DARPA - brainstrom and next paper ideas

Zhaoliang Zheng

I've been thinking about the next direction I can put into my DARPA paper. I'm puting some ideas together, the overall framework is that I would like to solve a multi-agent planning problem: Here are some relative concepts that tight into this problem: Multi-agent planning: multiagent plan...

28 Jan

FORAY - Theoretical analysis and discussion about weight distribution

Zhaoliang Zheng

This week, the research question that we are trying to explore is what is the impact of weight distribution on performance. The theoretical analysis is as follows: One of the impact is that weight distribution will change the line of action of the force, and also will change the cross-section-are...

25 Jan

FORAY - Color Segmentation

Zhaoliang Zheng

Code: jupyternotebook Sample of result(on single object, multiple objects with different color also work):

25 Jan

FORAY - Experiment on thrust

Zhaoliang Zheng

Last week, I setup a system to verify the mapping between thrust and voltage. The experiment setup as follows: Materials:digital scale, 3D printed stand, motors, propellers, NodeMCU 8266, breadboard, Dupont wire, motor driver A schematic diagram of measuring thrust generated by motor propelle...

25 Jan

FORAY - Crazyflie manual control

Zhaoliang Zheng

I had a Crazyflie assemble and tested in the lab: At firs, it was really hard to manual control and I made it died for lots of times: After lots of practise, I can finally manually control carzyflie quadrotor in a good way: Some observation and learning from this experiment: It was...

21 Jan

FORAY - regroup and beyond

Zhaoliang Zheng

This quarter, we have more students joining our group. Now we have some new members: Lei Zhao, Yifei Chen, Hongyi Li, Pehuen. And old team members: Parth, Ethan. The old gitlab link is here We now post everything on public github: https://github.com/zhz03/209_project_Blimp_modelling Our week...

15 Dec

FORAY - Paper milestone write-up and plan

Zhaoliang Zheng

Paper Paper milestone write up: The link: https://www.overleaf.com/read/zkyzhqtbyvvk It's very welcome to have your comments and feedbacks. Thoughts about validation: Design parameters: Figure out a easy way to measure the design parameters of the physical blimps, the parameters space...

24 Nov

FORAY - Summary of fist competition

Zhaoliang Zheng

Structure: 4 motors configuration (attackers) 3 motors configuration (defenders) Special case with the strong thrust Electronic system There are several components in our electrical system: Control board: NodeMCU-esp8266 Motor driver: tb6612-fng Motor : 8.5 * 20mm Propeller...

03 Nov

FORAY - Tutorial: Controlling multiple control boards through game controllers

Zhaoliang Zheng

Authors: Parth, Zhaoliang The details can be found in the github Motivation Previously, we introduced about how to control multiple WIFI-based control board through Blynk app. Though it's also convenient, it has two main drawbacks: The local Blynk server requires devices to have differe...

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