28 Jan

Simulating a trajectory for BOEM Slam Verification

Alexie Pogue

Currently working on the first step of a simulation for Tsang-Kai's SLAM project. A simulation will help verify landmark accuracy among other things beyond what can be demostrated using datasets. Ultimately we would like the simulation to look like the below figure [1] . The simulation setup...

28 Jan

FORAY - Theoretical analysis and discussion about weight distribution

Zhaoliang Zheng

This week, the research question that we are trying to explore is what is the impact of weight distribution on performance. The theoretical analysis is as follows: One of the impact is that weight distribution will change the line of action of the force, and also will change the cross-section-are...

28 Jan

FORAY - Pixhawk Feasibility and Challenges

The micro-UAV flight control problem has been addressed by many researchers. Good open-source flight controllers including those based on the popular PX4/Ardupilot platform are also readily available. We decided to try to control our blimp with Mini-Pix, a flight controller born out of the PX4/Ardup...

27 Jan

Progress on the Lagrangian approach to solving the KL Average of von Mises Fisher distributions

Cody Fan

This week, I finished reformulating the 2D case in the dot product notation and using the lagrangian approach. After converting dot products to the equivalent trigonometric representation, we get the same answer as our previous paper. This is exciting. It means that our approach has potential to wor...

26 Jan

Computational Design of Foldable Robotic Systems

Chang Liu

High-Level Review (Previous Post) Entire project (Please note: this flow chart is constantly being updated) Current project (Please note: this flow chart is constantly being updated) Sub-project (Please note: this flow chart is constantly being updated) Current Project: Computation...

25 Jan

FORAY - Color Segmentation

Zhaoliang Zheng

Code: jupyternotebook Sample of result(on single object, multiple objects with different color also work):

25 Jan

FORAY - Experiment on thrust

Zhaoliang Zheng

Last week, I setup a system to verify the mapping between thrust and voltage. The experiment setup as follows: Materials:digital scale, 3D printed stand, motors, propellers, NodeMCU 8266, breadboard, Dupont wire, motor driver A schematic diagram of measuring thrust generated by motor propelle...

25 Jan

Perception/Localization Setup with Crazyflie

Ethan Uetrecht

I followed the following tutorials to get a crazyflie quadcopter set up and tested: https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/ https://www.bitcraze.io/documentation/tutorials/getting-started-with-expansion-decks/ https://www.bitcraze.io/documentation/tu...

25 Jan

FORAY - Crazyflie manual control

Zhaoliang Zheng

I had a Crazyflie assemble and tested in the lab: At firs, it was really hard to manual control and I made it died for lots of times: After lots of practise, I can finally manually control carzyflie quadrotor in a good way: Some observation and learning from this experiment: It was...

21 Jan

FORAY - regroup and beyond

Zhaoliang Zheng

This quarter, we have more students joining our group. Now we have some new members: Lei Zhao, Yifei Chen, Hongyi Li, Pehuen. And old team members: Parth, Ethan. The old gitlab link is here We now post everything on public github: https://github.com/zhz03/209_project_Blimp_modelling Our week...

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