05 Oct

#### "Machine trainings and hardwares" tab

Hi All, I have collected a list of machines and hardwares we have. I make some training videos and I also put some useful YouTube videos on it in case you need to learn how to use the machine. It's on our internal page. Please feel free to let me know if you need me to add anything more to i...

05 Oct

#### Printable battery fabrication

The basic fabrication of a printable battery includes electode formation and battery packaging. Here I use a Li-ion battery as an example. The first step is the electode fabrication, which includes slurry preparation, coating, cutting of electrode, electrode calendaring, electrode slitting, and t...

03 Oct

#### Motion Planning 3: Trajectory Optimization

Optimization-based motion planning approaches, such asNonlinear Programming (NLP) and Mixed-Integer Programming (MIP), solve optimization problems, and find solutions using gradient descent while satisfying constraints. For instance, CHOMP optimizes a cost functional using covariant gradient descent...

01 Oct

#### Sodium-ion battery

For our printable robots, we are planning to integrate printed battery as on-baord power. Currently, we choose Na-ion battery given the relative high voltage, low resistance, low cost, and high drain current, etc. There are two main types of Na-ion battery, i.e. sodium/sulfur battery and sodium/meta...

01 Oct

#### Foray - First distributed prototype blimp

I've completed the first distributed prototype blimp at home. I adapted 2-1 motor configuration and it has 3 DOF: The control video demonstration: Some observations: The steering is really difficult to control because I only use one slider to control the speed of all motors. And it needs t...

01 Oct

#### My new paper has been submitted to Journal of Intelligent & Robotic Systems

My new journal paper "BTO-RRT: A rapid, optimal, smooth and point cloud based path planning algorithm" has been successfully submitted to Journal of Intelligent & Robotic Systems(JINT). This work is supported by the Laboratory for Embedded Machines and Ubiquitous Robotics(LEMUR) @UCLA, the Dron...

01 Oct

#### Corrugation mechanism, model validation (partial results)

What are we working on? Computational design of origami structure, based on mechanical specifications. Why are we doing this work? Advantages of origami structures: (1) tunable mechanical properties; (2) ease of design; (3) inexpensive and rapid manufacturing; (4) light weight with hi...

30 Sep

#### visual imu landmark data simulation

gitlablink Frame Introduction Body frame: IMU Coordinate Cam frame: Camera Coordinate World frame: The firt frame of IMU frames Navigation frame: ENU $$(0,0,-9.81)$$ Core Idea 1. Essential Members in IMU and Camera: imu_acc/imu_acc_bias/acc_noise_sigma/acc_bias_...

29 Sep

#### Foray - New motor configuration test

I did a test of different motor configuration than before. In this motor configuration, each of the three motors will control 1 DoF.

29 Sep

#### Foray - Improved design of gondola

I improved the design of gondola that the current version has a lighter weight than before. And the motor drivers are fixed onto the gondola to be more stable. Also, 1'' jumper wires are used to reduce the total weight. Before: After: