27 Jul

Latency Differences Between Wifi and 433 MHz Packet Radios in my Diverse Mesh Network

Bhavik Joshi

Last week, the two biggest things that we accomplished were making one node in the mesh network into an MQTT bridge, which would connect to an MQTT broker to be able to use the dash with the mesh network, as well as set up the RFM69HCW 433 MHz packet radios into a unicast mesh network. So, using t...

22 Jul

FORAY - Kalman Filtering of Barometer Data

Aaron John Sabu

Last week, I worked on filtering three independent data streams from barometers using a simple Kalman filter. The output is given below: The black lines represent the ground truth, the red dots represent each data point, the orange curve represents the output of a running average filter with 1...

22 Jul

Error Recording and Update the Latest Experiment Results about the Input Estimation

Zida Wu

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...

19 Jul

433 MHz Packet Radio Signal Strength Over Distance Tests

Bhavik Joshi

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...

19 Jul

floating boat with colored-blob tracking capability

Shahrul Kamil bin Hassan (Kamil)

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...

19 Jul

Implementing tank-drive system using designed car from rocolib

Jillian Naldrien Pantig

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...

19 Jul

ROCO webapp: rendering new designs

Jaehoon Song

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...

18 Jul

Robotic boat paddle-wheels and propeller

Grace Kwak

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...

15 Jul

BOEM SLAM simulation of expanding window

Tsang-Kai Chang

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...

15 Jul

CREATE: Partial Experiments Result of Input Estimation Algorithms

Zida Wu

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