07 Feb

I sadly found out that my current result on CI+KF only works in a very limited scenario.The goal is to prove that CI step can diminish the unobservable space, which means that the information can be meaningfully cascaded by CI step. However, by rigorous defining the algorithm, the information fro...

07 Feb

Over the past week, I've been working on measuring the state of the simulated segbot that we have built in Gazebo. Gazebo has 2 main kinds of state acquisition methods. First, we can attach sensors such as lidar or laser beams to the seg_bot model and use a plugin to read those sensor values, which...

07 Feb

Pictured: A simulation of the learning algorithm in a CartPole-v0 environment provided by OpenAI gym.This last week I started playing around with Tensorflow for reinforcement learning. I was able to implement a policy gradient with parameter-based exploration(PGPE) algorithm for learning a policy...

06 Feb

In the past few weeks I have been working on taking over some of Pooja's work as she is not present this quarter. I have read a few papers on SCP actuators, how they work and how they can be produced. I experimented myself by making a few actuators in the lab using the setup created by the other lab...

01 Feb

I found this link on the Bitcraze website: https://www.bitcraze.io/2016/05/position-control-moved-into-the-firmware/#comments It explains the basic layout of Crazyflie architecture. Using Kinect, ZMQ sends the location to the Python client.

31 Jan

While I am working on the literature review on distributed estimation algorithm, I think it is insightful to list several algorithms alongside, to see their development. Consensus KF The algorithm is the first one along this investigation. Basically, the algorithm requires nodes to run consens...

31 Jan

For last week, I made a lot of modification to our mechanical logic design and ran tests. Some issues were solved, such as short-circuit and contact problem. Now, the mechanical logic can snap at the first time, but always stop at the middle point in the way it should snap back. The bistable beam wa...

31 Jan

After struggling with the mathematical formulation of the problem for what has been a long time now, it is finally in a state where it can be converted into code. The importance of not overlooking the accuracy of the math cannot be understated since this uniquely defines the code. Whilst performing...

31 Jan

A Seg Bot in GazeboThis week, I worked on creating a Seg Bot model in Gazebo, the robot simulation engine that we are planning on using for our project. The Seg Bot model was created in the SDF format, an XML file format used by Gazebo to specify physical structures such as robots. The SDF format...

31 Jan

A Builderfile is a sequence of instructions in RoCo that when executed gives a desired output. However, the use of builderfiles can be expanded to support operations, such as copying subcomponents and redoing certain operations in the UI. Data Structure: Since RoCo components are hierarchical b...