05 Nov

As I mentioned in the group meeting last Thursday, to better communicate what I have been doing with the modeling of one subsystem of the mechanical logic, I am writing up and summarizing my progress up until now. I included some pics from my writeup, but the full pdf will soon be on my personal pag...

31 Oct

I have implemented linearization and LQR controller in the attitude control block. Previously, I tried to test the correctness of the dynamics block by trying to maintain hover after initializing the flyer at a hover posture. However, the flyer is only able to maintain the position for 06 seconds. B...

10 Oct

For the past week, I was woking on the writing the introduction for the upcoming RSS conference. In this paper, we will introdce our work on the modeling of our mechanical logic. This model uses a quasi-static electromechanical scheme to simulate the dynamic behaviors of our mechanical logic, which...

10 Oct

References: Zhang, W., Mueller, M. W., & Dandrea, R. (2016). A controllable flying vehicle with a single moving part. 2016 IEEE International Conference on Robotics and Automation (ICRA). doi:10.1109/icra.2016.7487499

21 Sep

This summer, I, along with Phipson, did a "design for everyone" project, which is to say, we built a system called FAVECAD (Fabrication in Angumented and Virtual Environments for Computer-aided Design) to help everyone (including non-designers) to design. This system combines advantage of AR and...

13 Sep

So far, the Mechanical Logic team has completed their first paper and submitted it to ISER2018 (2018 International Symposium on Experimental Robotics). Thanks for the hard work of Dr. Mehta, Angela and Blaire. The team is able to induce current oscillation through the combination of Bistability...

06 Sep

Hello Folks! This time, I am going to blog about my adventures with wheel encoding. I had a few problems (as usual) but solved it as I always do. The IR sensor I used was from Pololu, and I had to CAD out the encoder mount so that the rear wheels of my RC vehicle could be properly measured for wheel...

01 Sep

For our "off-center spinning mass controller" project, we wanted to control Crazyflie and run several different experiments on our drone. Ubuntu and ROS packages provided us with such platform. So we followed below paper as our guide. Flying Multiple UAVs Using ROS Since our Ubuntu and ROS version...

31 Aug

Below is the diagram of current camera configuration separating camera network from Internet in order to prevent any interference. Data interference is more likely to happen if additional cameras were added and they were on the same network as internet. (camera data can take up large bandwidth) : ...

30 Aug

Hers is the demo for full system testing v2 of our SLAM Physical Experiment: 2 robots and 3 landmark with better animation colo_full_test_v3 (1).mp4