18 Nov

#### Identifying weak points and failure modes in foldable structures, different methods exploration

Method of Weighted Residuals + Galerkin Method "Reduce the continuous-system mathematical model to a discrete idealization." "In applied mathematics, methods of mean weighted residuals (MWR) are methods for solving differential equations. The solutions of these differential equations are assumed...

16 Nov

#### How to deal with obstacles in Trajectory Optimization?

In this tutorial, I show how to deal with obstacles in TO. Let's consider a robot moving in a 2D space. The robot needs to avoid rectangle obstacles. Here, I assume that the shape of the obstacles is represented by its lower left and upper right points, $$\left(x_{\min }, y_{\min }\right)$$ and \...

16 Nov

#### Weak Point in Foldable Robot, weekly update & plan

High Level Project Goal (A review of previous post) Following the research plan presented last week (link to previous post: https://uclalemur.com/blog/computational-design-of-foldable-robots-high-level-flow-chart), more progress has been made. A Reminder of Previous Method Previously, in Sep...

15 Nov

#### Research Schedule

Research Plan Information-Theoretical Pose Estimation for Probabilistic Semantic Data Association Phase 1: Reproduce EM-Semantic Pose estimation Phase 2: Introduce the Entropy of landmarks Phase 3: Visulization Phase 4: Introduce the Mutual Information Phase 5: Marginalization edges...

13 Nov

#### The thermal camera is ready to use

I just got the thermal camera, Fluke TIX580. This camera is very powerful and can be used to capture thermal images and videos in a very high resolution. In case you want to llearn more, I also include the manual of the camera below. https://www.instrumart.com/assets/Tix500-series-manual.pdf

05 Nov

#### FORAY - multiple peripheral devices connected to the same laptop

In case, we have a limited number of laptops to connect the game controllers and master devices. This experiment shows that multiple game controllers can be connected to the same laptop for communication. The current communication system is limited by the number of ports. We can overcome this limita...

05 Nov

#### Computational Design of Foldable Robots, High-Level Flow Chart

Flow Chart 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) Sub-project detailed research plan (Please note: this f...

03 Nov

#### FORAY - Tutorial: Controlling multiple control boards through game controllers

Authors: Parth, Zhaoliang The details can be found in the github Motivation Previously, we introduced about how to control multiple WIFI-based control board through Blynk app. Though it's also convenient, it has two main drawbacks: The local Blynk server requires devices to have different...

02 Nov

#### Next project, identifying weak points in foldable structures

For the last project, we developed a design tool to computational design stiffness-enhanced mechanisms, based on corrugation structures. That project leaves us a question: where should we use stiffness-enhanced mechanisms in foldable structures. Therefore, my next project will be dedicated to i...

02 Nov

#### FORAY, Controller Case, Battery Case, Motor Case Design

Here are the design files for FORAY project, including 2.2g controller+battery case 1.2g battery case 0.4g motor case Design Files (there are 2 types of file: .eps is the vector design file, you can open using InkScape to edit if needed; .pdf is what i converted into A4 size pdf file, in...