11 Aug

FORAY - Live Ball (with Distance) Detection

Aaron John Sabu

I merged the ball detection code with the distance estimation code and added a camera component to make it live. The following video shows the code running live on CUDA: Model prediction is very slow on the CPU; I am currently checking out techniques such as quantization to optimize the model. A...

09 Aug

SLAM simulation with sliding window scheme

Tsang-Kai Chang

We simulate the BOEM algorithm against two other offline algorithms. Since these two algorithms requires a long time, we simulated them with sliding windows. In the first scenario, the block size of BOEM started with 9 sec, and grows geometrically. The sliding windows for both EM and optimizati...

07 Aug

Printing Letters with RoCo and April Tags for Detection

Jaehoon Song

I'm currently designing letters for our swarm of robots. I used cartesian coordinates to represent the points of the letters and made new components for L, E, and M. The svg screenshots for L, and M: Both appear to be upside down or "rotated" because, according prof. Mehta, the y coordinates incr...

07 Aug

Slides for Presentation on von Mises Fisher Consensus

Cody Fan

Here is the link to the slides for von Mises Fisher Consensus as presented on Thursday during the lab meeting: https://docs.google.com/presentation/d/1O-YE76NR5W3VspuGz8c7o3kw252khtkzwVUPmlhnfqY/edit?usp=sharing

06 Aug

Incorporating IMU and Lidar on 4-wheeled car for Feedback Control

Jillian Naldrien Pantig

For SURP 2021’s Week 6, I incorporated IMU and Lidar sensors to the car with a tank-drive system. Currently, the Lidar acts as an obstacle detection at the front of the car wherein it would stop when it detects an object less than 130mm. For the IMU, it only shows the yaw values in degrees using the...

05 Aug

Determining the Ideal Resolution for AprilTag Detection

Marisa Duran

In the past few days, I have been working on integrating the visual processing work I have been doing with the work the rest of the Arnhold team has done so far. AprilTags will be integral to our demonstration next week, so I have been trying to determine the ideal resolution where the most area on...

05 Aug

CREATE: Input Estimation and EM algorithm

Zida Wu

05 Aug

[Video] Swarm of Robotic Paper Cars Controlled over a Diverse Mesh Network

Bhavik Joshi

Yesterday, Jill and I were able to successfully integrate the mesh network with three of her paper cars. We were testing the ability to send instructions to multiple vehicles over the network. Since our 433 MHz packet radios in tests would send messages within three milliseconds and the painlessMesh...

05 Aug

FORAY - Testing the property of different motor + propellers combination

Zhaoliang Zheng

I'm still testing the property of different motor + propellers combination. Right now, since I also got the requirement from the AR blimp, I'll add one more test on to my previous experiments. The current experiment setup: So the properties of motor + propellers that I will cover in my exper...

05 Aug

FORAY - Flying test with the feather board esp32

Zhaoliang Zheng

I've had several flying tests this week to see how does feather board esp32 performs. Before I started the flying test, I need to configure the motor setup using inputs commands: The flying test of moving forward: an other angle of view: So this phenomenon(The forward motor completely...

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