27 Oct

FORAY - Field test in a bigger room (Demo)

Zhaoliang Zheng

The PID control on horizontal direction was not good (Failed test): The PID control on vertical direction was not good (Failed test): After we fine-tuned the PID control, it worked great (successful test):

26 Oct

Using roco output in Webots

Anwesha Chattoraj

Some observations and tasks ahead The roco model output .wbo at the moment is just the geometrical data, does not have any device information. Tried using the Device and DiscreteComponent branch in yusuke's repo, it needs to be ironed out before it can be used (could work on debugging that also)...

26 Oct

FORAy - ESP32 Cam run time issues

Zhaoliang Zheng

During the experiment, we would like to do a extrem test on the ESP32 CAM since this is the most important camera that we will use on the blimp. Then we observed the folllowing situations: Corrupted images transferring back after some run time and recording: After first, I thought it was...

26 Oct

FORAY - Keyboard interaction on the blimp control (demo)

Zhaoliang Zheng

After we finished the full minimum autonomous control logics last week, we think it is necessary to add some new functions in order to tune the control in the field flying test: (1) Keyboard interruption to stop all motors (2) Keyboard interaction to change the control variables (PID control) (...

26 Oct

Decentralized Training and Execution in Multi-agent System

Zida Wu

23 Oct

FORAY - High level integrated logic is now finished and tested in the lab

Zhaoliang Zheng

Full integrated high level logic flying test: What to do next: Flying test in a bigger space (like: Eng IV) Have keyboard interruption in the python function To tweak PID value while running the program To stop the balloon from being crazy The meter version April tag detection is stil...

22 Oct

FORAY - P2P Blimp-Laptop System: Seek and Catch Green Ball Capability Achieved (tested on blimp), MoveToGoal Code Written (to be tested on blimp --> Update: DONE)

Zhiying Li (Steven)

Based on Wednesday Meeting, we decide to change our whole system design into a P2P Blimp-Laptop version, so that all controlling process happens on the ground i.e on the laptop. And blimp system is only for (1) get and send sensing data (2) receive laptop processed motor directives (3) control mot...

20 Oct

FORAY - ESP32 cam detecting green ball in the lab

Zhaoliang Zheng

I've conducted the esp32 cam detection green ball integrated test and here is the video: What do we improve from before: The ML algorithm works much better than the color detection in the lab environment Some problem that I've found: ESP32 cam problem Balloon problem

20 Oct

Goal Detection by Contrasting 2 Images

Shahrul Kamil bin Hassan (Kamil)

In order to see the goals taped with the retro-reflective tape, we attached our robot with an IR LED and take a picture of the frame. Then, we take a picture with the LED off. By setting a specific threshold, we can find pixel with the difference between the 2 images being more than the specified re...

19 Oct

roco additions and literature review

Anwesha Chattoraj

Code Tried to get rid of a few redundancies in some parts of the roco code Started writing a new composable (pseudocode) that can be used a base module for generating the controller for the given robot geometry need some help to figure out how relevant robot dynamics will be for the controll...

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