The previous illustration is in this link This post is mainly talking about the error fixed in the MM estimator. The biggest error of the MM estimator in derivation and code is that: The error is: In the matrices, I used the scalar 1 to replace identity matrix I. For example, using (1-K) to re...
Last week, I set up the RFM69HCW 433 MHz radio hardware to be able send messages from one radio to the other. Below is a picture of the set up. I have the 433 MHz packet radio on a breadboard and connected to an ESP32 Feather Board, as well as attached to a quarter-wavelength antenna (about 17 centi...
Building upon the work that was done last week, the goal this week was to include some sort of motion actuation to demonstrate that a vehicle can track a specific blob of a specific color using the OpenMV camera. However, due to setback in the goal of making a blimp, we decided to proceed with a sma...
For the 4th week of SURP, I managed to produce the cars (with the help of my fellow Arnhold teammate Grace) that I built using the roco library. I had to make several adjustments to the size of the cars and the locations of the holes or decorations on its surface. **Note that on the pic below (right...
For the past two weeks I was working on the zoom issue we have with the svg model. However, I was stumped with the codes of the web interface because the condition that already exists, does not work even though the codes appear to be correct. This is the condition: This simple if statement is sup...
After completing the boat's electrical base, I began testing different paper chassis designs for driven propellers and paddlewheels. I used the dashboard joystick to control the motors wirelessly while noting each boat's performance. The paddlewheels use servos driven by the Adafruit Servo FeatherWi...
We simulation these SLAM algorithms with increasing duration. We can see that the estimation accuracy is comparable among 3 SLAM algorithms, but the processing times are different. The processing time is basically dominated by the optimization problem. The bigger the optimization problem, the long...
This week, I fixed some bugs in my previous code and wrote a new program to visualizethe live streaming data I also conduct more experiments to verify my real_time streaming code: Meanwhile, I've been working on the Opti-track system and try to get it to work for multiple rigid bodies. The...
This week, I used Raspberry Pi camera to collect the image data of multiple green balls as shown below. All the code and data are in the github