06 Nov

Over the past week I have been researching how to implement a kalman filter into the Lidar localization system. As a reminder the goal of this project is to investigate whether it is possible to drop the angular velocity measurement of the Lidar as it completes a sweep of the room and still maintain...

06 Nov

This last weekend, I was finally able to fix the bug that had been eluding me for the past two weeks. Click here to read my previous blog post about this bug.My approach to fixing the bug was to painstakingly keeping track of the reference states of the different variables after each deserializ...

02 Nov

Overall goal of this quarter: Develop a generalized algorithm for creating any type of robot so that the user can input certain requirements and be told exactly how to put together materials to create a robotThe upcoming weeks are going to be focused on creating an automated hand. At the end of t...

02 Nov

I spent the majority of this past week debugging a single issue in RoCo. We noticed that when we constrained subcomponent parameters in RoCo and rebuilt the component, the drawing would not reflect the constraint. The representation of the faces in RoCo are parameterized with Variables that define t...

02 Nov

Last week, we finished interfacing Crazyflie 2.0 with ROS, meaning we are able to get sensor data from Crazyflie 2.0 to our laptop by monitoring ROS topic IMU for Crazyflie. What we can get from the sensor is the linear acceleration, angular acceleration and orientation. Furthermore, the pressure se...

02 Nov

The interface without the cutout showing in the 3D viewThis week was spent trying to work out a lot of the bugs that were discovered last week during the addition of cutouts to the interface. When cutouts were first added, there was a problem with the generation of the 3D view of the component. T...

02 Nov

This last week I worked on improving the android app. The layout that I am planning to implement currently has 4 pages. The first page would be the main menu where the user can choose to connect to the NodeMCU microcontroller either through serial USB or wirelessly using Wi-Fi. If Serial is chosen t...

02 Nov

There are two python files need to be modified or create :Modify Function/est_algo.py #estimation algorithm class used by robot class Create Function/algo_EKF/your_own_algo.py #you own algo class in the correct format the algorithm need to be matched with robot class(centralized or distri...

02 Nov

Over the past week, I worked on getting RoCo's composite code interface working. To do this, I graphically constructed a component that would take input through a Serial port, convert that to a string, and output a signal to a motor based on the contents of that string. I would then try to export it...

02 Nov

I found that the paper, "On the convergence conditions of distributed dyanmic state estimation using sensor networks: A unified framework", proposed the almost identical framework of ours. It should not be surprising, since Covariance Intersection can be naturally integrated in Kalman filter. Howeve...