13 Feb

This week I have been debugging blocks other than the attitude controller. After finding a transformation from the body frame to the control frame, new matrices from linearization is generated. However, because the rotation matrix from the original paper is unknown, it is not possible to directly co...

13 Feb

After long time debuging for the Latex code of our paper, I finally submited our paper, titled "Analytical modeling for rapid design of bistable buckled beams", to arXiv. Hopefully the paper will be released at 14th Feb. online. After finishing submission to arXiv, we will continue to revise the p...

13 Feb

Progress of this week:a. figuring out why multiple faces on one edge would failI tried to figure out why current Roco does not allow multiple faces on one edge. After a closer analysis, it actually allows that. The issue is that when we perform connect((faceA,edgeA),(faceB,edgeB)), Roco would...

13 Feb

After revising our requirements, we decided that in addition to the received signal strength, we also needed to collect information on the link quality in order to better characterize the connection between two devices. Link quality is an important measure that indicates whether or not a message se...

07 Feb

Before starting experiments of prototyping of mechanical oscillator, I wrote a Pre-Lab in order to clarify the purpose and method of experiments and perform experiments efficiently. I also figured out the plan of experiments in this quarter with this Pre-Lab. From now on, based off this Pre-Lab, I...

06 Feb

This week I reevaluated the linearization script I wrote last quarter. I modifed the script so that it uses the simplified dynamics of the quadcopter model (ignoring the angular acceleration and the moment of inertial of the propeller) LInearization Simplified Plan.pdf

06 Feb

Last week, Blaire and me finished the last revison of our paper. Especially, the error analysis of our model was added into the paper, as shown follows: Also, I worked on paper survey on the verification and validation of furniture design.

06 Feb

This week I redesigned an algorithm that calculates design parameters of the mechanical logic this week. Given that there are so many degrees of freedom, we need to find something to optimize and thus determine the best possible combination of parameters. One thing to optimize is the robustness--if...

06 Feb

This week I went through the Roco source codes related to building the components. With that understanding, I build a artificial perpendicular connection in 3D using the current Roco implementation which is based on origami. It occurred to me that any furniture built based on origami is actually iso...

06 Feb

Classic approaches to tackle simultaneously localization and mapping (SLAM) are based on estimation problem. That is, robots try to estimate it position as well as landmark concurrently where both positions are modeled as random variables.A series of works formulate SLAM differently by modeling t...