09 Jun

FORAY - Blimp PCB design

Zhaoliang Zheng

Finished the version 2 blimp PCB design. This new design can now output 4 motors and 2 servo motors: schematics: board layout:

09 Jun

FORAY - Learning PCB board design

Zhaoliang Zheng

Finish learning the PCB board design and learn how to modify the board layout by changing the schematics:

08 Jun

Logics Project -- RoCo + Webots

Chang Liu

As we discussed last Thu, there are two things to be done, so that our collaborators can have something to work on: Write a controller to make the paperbot go to a specific target location. Build an environment (manually for now) and apply it to Webots, and then replace it with Scenic late...

04 Jun

Logics Project -- RoCo + Webots

Chang Liu

Webots controller After the meeting with Daniel, I made updates to the controller. Now the robot can go to a targeted location. Here is an example, with only P controller in it. Your browser does not support the video tag. Here is an example with PD controller TBD Webots try-out environm...

03 Jun

Logics Project -- RoCo + Webots

Chang Liu

Some updates: Location of motor axis (anchor point & wheel relative locations) have been calculated. A simple controller is added to move the paperbot. Your browser does not support the video tag. Trying to write down all RoCo-extracted information into Webots program. The plan is...

03 Jun

SLAM performance on EuRoC datasets

Tsang-Kai Chang

We compare 3 different SLAM algorithms on EuRoC datasets. As for estimation accuracy, we can see that all SLAM algorithms can improve the accuracy upon the visual-inertial odometry VIO output. The optimization SLAM has the most consistent result, while all SLAM algorithms have comparable perform...

03 Jun

[Handwriting] Derivation of Input Unbiased and Minimum-variance Estimation

Zida Wu

Big picture The deficiency of the current derivation is marked red color, which would be extended in the next week.

30 May

Assemble and play around with prototype blimp

Zhaoliang Zheng

This week, we assembled the prototype blimp in the lab. Siyou played around with it. This prototype blimp requires some skills to manually control it.

27 May

RoCo Actuation Info Extraction

Chang Liu

Trying to get actuation location from RoCo. Method 1: Write a new code for it Steps: Get motor information from .yaml file (e.g. "fs90r") Refer to dimensions.py for motor geometry information (e.g. "hornlength" etc) Refers to system input for "length", "width" and "height" for "bodylen...

20 May

RoCo Geometry Information Extraction

Chang Liu

Here is what we will need to extract from RoCo in order to construct simulation in Webots Updates In the above graph, green boxes have been implemented in RoCo. Now, for each component, we can extract vertices coordinate, facet normal, and coordinate index from RoCo. Example 1: for compone...

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