23 Jan

I wrote an algorithm that can calculate the optimal design parameters of a bistable buckled beam under some given constraints. The calculated parameters are expected to not only satisfy the constraints, but also make designing easy.

23 Jan

For the passing week, I ran the FEA simulation for the bistable buckled beam. This FEA simulation fuctions as the reference of our analytical model to valide its feasibility. The main result and analysis will be added into our paper. For the following week, Blaire and I will continue to revise the p...

23 Jan

This is a screenshot of my EKF-SLAM code as it is right now. The blue line is the EKF estimate while the red line is the true trajectory. I took inspiration from https://github.com/lucarinelli/EKF_localization_python/blob/master/EKF_localization.ipynb and https://github.com/AtsushiSakai/PythonRobo...

23 Jan

We just submitted our new paper, Localization Algorithm with Circular Representation in 2D and its Similarity to Mammalian Brains. I am excited about the paper since we compare our paper to the methods based on Lie group. Hope the paper can get published!

23 Jan

For the past two weeks I have been examining the dynamics model in MATLAB. I separated the linear and angular state variables. When setting the angular velocity of the body to zero and the initial pitch angle to 0.3454 rad, the flyer is able to maintain its position in both y and z directions, while...

16 Jan

For this quarter, I will work with Tsangkai addressing on EM-SLAM problem. First half of quarter:Investigate EM-SLAM problem in detail. Validate the result from "EM-SLAM with Visual/Inertial Application" using Python. Try to achieve convergence of this algorithm. If unable to achieve, figure ou...

16 Jan

For the past week, Blaire and I were working on the paper writing for the analytical modeling of bistable buckled beams with off-center actuation. We worked together to clean up the derivation of our models and finalize Section "Resultes and Disccusion". So far we finished most of the work except...

10 Jan

Quarter Goals: Do more block tests with my model Use simscape to import CAD model and compare with results from mathematical model from the simulation. Work with Amir to set up autonomous quadcopters Study optimal control and see how it can apply to the single-motor flyer projectCurrent Design of...

10 Jan

This quarter I will be working on:The set up of Crazyswarm (Flying multiple crayflie drones) autonomously using Optitrack motion capture system. The dynamics and mathematical derivation of our last quarter project "The off center spinning mass controller" for quadcopters. Attached is my mile...

05 Dec

Block test.pdf