27 Feb

After fabricating the first prototype of a monostable beam, I fabricated a bunch of prototypes of monostable beams with different mechanical properties this week. After the fabrication, I tested the monostability of these prototypes of a monostable beam. As a result of experiments, monostability was...

27 Feb

The control frame is changed such that in the control frame, the propeller lies on the xz plane. The resulting linearization matrices are:Now because the model often crashes with singularity points, it is necessary to convert the Simulink model to a MATLAB script for debugging purpose.

21 Feb

This week I compiled my debugging results into a document. There are 4 blocks that need debugging: the production control, position thrust, flyer (dynamics simulation), and the attitude control block. The main goal of the model is to verfiy the control strategy. Therefore, it is important to have th...

20 Feb

Under Dr.Mehta's suggestion, I enhanced my approach to my optimization problem with the use of fmincon in Matlab. The completion of this task marks the start of our writing stage.

20 Feb

Here is a video of my EKF-SLAM code performing with 1 landmark. The red line is the EKF estimate while the blue and black lines are dead reckoning and true trajectory.I adopted my code from https://github.com/AtsushiSakai/PythonRobotics/blob/master/SLAM/EKFSLAM/ekf_slam.py I hope use my code to l...

20 Feb

This week I was mainly surveying on puplications for recursive EM methods (not restricted to SLAM) in various applications, which is listed below: (1) Online EM algorithm for latent model This paper is more like a tutorial on how to use recursive EM algorithm to estimate parameter and update latent...

20 Feb

This week, I finally prototyped a monostable beam and its testing frame. The monostable beam was cut out from PTFE plats by a laser cutter. The cutting by a laser cutter was pretty precise and the shape of the monostable beam was almost the same as its original design. After the cutting process of t...

15 Feb

This week we successfully performed the autonomous hovering of crazyflie. The details of the process are mentioned in this file , which is the continuation of "Installing ROS packages on Ubuntu" that I posted earlier. Here is a short demo. Next week we will use external position publisher to set...

14 Feb

In CoLo, there are two options for communication in CoLo-AT: real-world data or simulated data. Users will use the Communication Controller (C-C) to define a communication scheme and output the index for the sender and the index for the sender at the time step. For real-world data. the Dataset Man...