09 Feb

#### FORAY - Different shape with different dimension -- case study

Previously, in the balloon shape design prelab. We discussed about the relationship between different balloon envelope with different shape after inflation. This week, we did a case study on case 1. We measure the dimension before inflation and after inflation. We also tested its buoyancy. Th...

09 Feb

#### FORAY - measure drag coefficient

Measure drag coefficient aerodynamics plays a very important role in measuring the performance of blimp. We know drag equation: $F_D = \frac{1}{2}C_d\rho A v^2$ where, $$F_D$$ is the drag force, $$\rho$$ is the density of the fluid, $$A$$ is the cross sectional area \(v\...

04 Feb

#### Comparison between optimization based and EM based SLAM

error.pdf result_2.pdf I implemented the EM based SLAM algorithms. However, in a visual inertial system, we can to take care of other realistic issues besides the theoretical algorithm itself. It will be insightful to compare the optimization based algorithm, since it has been developed for a wh...

04 Feb

#### IROS paper plan

Validation of our approach How compare accuracy There are different ways of comparing result accuracy: Ratio of the maximum deflection calculated by the numerical solution to the corresponding values obtained analytically [1] [2] Ratio of deflection of deflection at a particular point...

03 Feb

#### FORAY - collecting green ball data

This week, we are collecting some green ball data using the cellphone camera and esp32 cam. We've collected three different sets of photos with different resolution: (1) Cellphone camera, resolution: 3264 * 2448 (2) esp32-cam, resolution: 1280 * 1024 (3) esp32-cam, resolution: 800 * 600...

03 Feb

#### Foray - IROS paper system overview

The design parameters space: The performance evaluation system and performance:

02 Feb

#### FORAY - voltage - thrust plot with different motor + propeller combination

This week, I've tested the different relationship between voltage -thrust with different motor + propeller combination. The different motor+propeller combination is shown as follows: (1) Propeller forward turning vs. Propeller reverse turning (2) Propeller forward turning vs. Propeller rev...

01 Feb

#### FORAY - Monocular Depth Estimation

I reimplemented the Gtech paper for primitive monocular depth estimation. It works relatively well but requires a certain measurement of the object before the estimation. Reference - N. Yao, E. Anaya, Q. Tao, S. Cho, H. Zheng and F. Zhang, "Monocular vision-based human following on miniature robot...

01 Feb

#### FORAY - Pipeline for running model on Laptop

To explore another method for object detection, I have built the pipeline to stream the video feed from the camera to the laptop and run the model on the video stream. Therefore, we now have the functionality to use any ML / neural network model for object detection Github Repo - https://github.co...

01 Feb

#### FORAY - On Device ML

I explored the idea of running object detection on the microcontroller itself. I explored the following libraries – Tensorflow Lite ESP WHO Eloquent Conclusion – I found the TensorFlow lite library extremely unstable. There are many bugs in the repo. I was not able to build a single exampl...