15 Feb

This week, I worked on implementing an API that the PGPE algorithm can use to train the parameters for the neural network that controls the robot as well as the parameters that dictate the robot's structure. Gym is a framework that contains a collection of preset environments that machine learning m...

07 Feb

This week, I spent most of time on reading reference to find the way to decrease the thredshold to actuate the bistable beam. As far as I know, there are several ways to achieve it. One of them is to move the actuation spot close to midpoint of bistable beam. And I modified my design according to th...

07 Feb

I sadly found out that my current result on CI+KF only works in a very limited scenario.The goal is to prove that CI step can diminish the unobservable space, which means that the information can be meaningfully cascaded by CI step. However, by rigorous defining the algorithm, the information fro...

07 Feb

Over the past week, I've been working on measuring the state of the simulated segbot that we have built in Gazebo. Gazebo has 2 main kinds of state acquisition methods. First, we can attach sensors such as lidar or laser beams to the seg_bot model and use a plugin to read those sensor values, which...

07 Feb

Pictured: A simulation of the learning algorithm in a CartPole-v0 environment provided by OpenAI gym.This last week I started playing around with Tensorflow for reinforcement learning. I was able to implement a policy gradient with parameter-based exploration(PGPE) algorithm for learning a policy...

06 Feb

In the past few weeks I have been working on taking over some of Pooja's work as she is not present this quarter. I have read a few papers on SCP actuators, how they work and how they can be produced. I experimented myself by making a few actuators in the lab using the setup created by the other lab...

01 Feb

I found this link on the Bitcraze website: https://www.bitcraze.io/2016/05/position-control-moved-into-the-firmware/#comments It explains the basic layout of Crazyflie architecture. Using Kinect, ZMQ sends the location to the Python client.

31 Jan

While I am working on the literature review on distributed estimation algorithm, I think it is insightful to list several algorithms alongside, to see their development. Consensus KF The algorithm is the first one along this investigation. Basically, the algorithm requires nodes to run consens...

31 Jan

For last week, I made a lot of modification to our mechanical logic design and ran tests. Some issues were solved, such as short-circuit and contact problem. Now, the mechanical logic can snap at the first time, but always stop at the middle point in the way it should snap back. The bistable beam wa...

31 Jan

After struggling with the mathematical formulation of the problem for what has been a long time now, it is finally in a state where it can be converted into code. The importance of not overlooking the accuracy of the math cannot be understated since this uniquely defines the code. Whilst performing...