09 Oct

### Survey on Consensus-Type Distributive Estimation

I primiarily did paper survey on the papers following Diffusion Kalman Filter, in order to characterize its performance in the persecptive of network topology. On the way of surveying, I found that there are two main research groups in this field.The first on is lead by Dr. José M. F. Moura. One...

13 Sep

### Weekly update 09/13/2017

Last week, I added more features into our mechanical logic II design. First of all, stiffening edges are employeed to increase the stiffness of the whole structure. Also, this feature somehow improved our mechanical logic's stability. Then a ventral frame was created to boost its stability and flatn...

07 Sep

### Tutorial for laser cutter

We have a new machine in our lab! It is a laser cutter, which can be employed in both carving and cutting works. This laser engraver is equipped with one 40W water cooling laser tube, high precise stepping motors, high quality control board. It employs an USB port and thus can be connected to your l...

06 Sep

### Weekly Update 9_6_2017

Research on how to measure/estimate reaction torqueIn addition to thrust force, a spinning propeller will also introduce reaction torque onto system. According to paper [1], there is a strong linear relationship between a propeller’s reaction torque and thrust force. Once this relationship is f...

31 Aug

### SCP Actuator Instruction Manual

Making SCP Actuators.pdf Final_Coil_Insertion_Code.ino

30 Aug

### Determination of Characteristic Velocities From Local Information

The following is a short overview of the process by which the characteristic velocity of the vehicle is determined from local information. Let $v(t)$ be the velocity of the vehicle at time $t$. In the presence of traffic jams, $v(t)$ will be wave like. A sample of different possible solutions...

30 Aug

### Weekly Update 8/30

Simulate Motor Thrust in SimulinkOn Crazyflie, the spinning of motor and propeller will introduce a thrust onto the system. According to Crazyflie Wiki page (https://wiki.bitcraze.io/misc:investigations:thrust), the relationship between the motor spinning speed (rpm) and the thrust force (g) can...

30 Aug

### Weekly update 08/30/17

This week, the new design of mechanical logic was created and prototyped. The new mechanical logic employs bistable beam structure to function as switch. In this manner, the reliability and assemblability of the structure are greatly improved. By the way, it just needs 20 mins to finish the assemble...

28 Aug

### Stepper Motor Attachment

In the very beginning of the SCP actuator fabrication process, a major obstacle was attaching the thread to the very center of the stepper motor shaft. As a result, I decided to 3D print a part that would satisfy all of the necessary conditions (fit directly in the center of the shaft and have a hoo...

28 Aug

### Crazyflie Parts Prelab

After a couple of weeks' writeup and figuring out about the details, here we finally have the final version of the prelab for Crazyflie. This lab is to test some new parts to see whether we can replace the original parts by them to increase the thrust produced. Currently the maximum thrust created i...