18 Dec

Plate bending, Method of Weighted Residual (MWR), Increasing Calculating Speed

Chang Liu

Remarks Calculation speed increased 50% for calculating trial functions. Automatically determine minimum polynomial order. Calculation speed increased >90% during calculation of residual integral. The way to do this is by implementing a new integration method. The new method and th...

15 Dec

FORAY - Paper milestone write-up and plan

Zhaoliang Zheng

Paper Paper milestone write up: The link: https://www.overleaf.com/read/zkyzhqtbyvvk It's very welcome to have your comments and feedbacks. Thoughts about validation: Design parameters: Figure out a easy way to measure the design parameters of the physical blimps, the parameters space...

14 Dec

Nonlinear least squares optimization in SLAM

Tsang-Kai Chang

Previously, I finished the feature matching and id assignment in the SLAM frontend. Last week, I combine the result with the preintegrated IMU data to formulate an optimization problem. Initial values I initialize the landmark position by triangulate two frames. The selection of these two points...

13 Dec

Test results of IMU error function

Zida Wu

Purpose This blog is to pose optimization results of the IMU erro function in Tsangkai's project. In this test, I try to use simulation data to test the "imu_error" function to examine whether the code is right or not to perform optimization function. Input and output There are two tests. ...

07 Dec

SLAM frontend overview

Tsang-Kai Chang

okvis is a visual odometry. Therefore, the feature matching only occurs within short time window, and the feature matching that enables loop closure is not provided. The following is the overview as well as the result of the feature matching that I implemented. Keyframe selection This part relie...

02 Dec

Blimp Altitude Filtering Algorithm (Second Order)

Ethan Uetrecht

This past week, I focused on improving upon the altitude filtering algorithms I had tested previously for the blimps on FORAY. The previous two algorithms I had implemented (both in arduino and in MATLAB) were a moving average filter and an exponential filter (both first-order filters). Both intro...

30 Nov

Research plan for Dec. 2020

Tsang-Kai Chang

After surveying several SLAM and visual odometry implementation, I decided to work on okvis with monocular camera setting. I will run an nonlinear optimization on the output of the visual odometry system, which can be regarded as global bundle adjustment with IMU constraints. The output of visua...

24 Nov

FORAY - Summary of fist competition

Zhaoliang Zheng

Structure: 4 motors configuration (attackers) 3 motors configuration (defenders) Special case with the strong thrust Electronic system There are several components in our electrical system: Control board: NodeMCU-esp8266 Motor driver: tb6612-fng Motor : 8.5 * 20mm Propeller...

18 Nov

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

Chang Liu

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?

Yuki-shirai

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 \...

Search

Popular Tags

foray origami robots blimp ducky vr SLAM edg computer vision computational design roco slam Origami rocolib arduino RoCo design Robot Compiler simulation Motion Planning autonomy edg-model create; kalman filter; mesh reinforcement learning; multi-agent; mean-field; logics imu contacts mesh network motors esp32 friction networking tank dynamics pushing auxetic esp now machine learning multi-agent visual processing communication wireless control path planning ROCO computer skill structure i2c reinforcement learning cars openmv Robotica webapp power consumption modeling origami dataset test visual motor Battery pcbs surface structure DARPA dash odometry port-arrays gestural interface feedback gondola infrastructure auxetics semantic controller machine vision paper frequency diversity mixed reality robot Consensus bistable auxetic unit cell gestural intuition crawler darpa; create; logic create; kalman filter; EM; structures Foray network open house propeller lidar sensors apriltags 433mhz optimization Quantum Information 4-wheeled FORAY perception control environmental design refactoring icra2021 radio Kullback-Leibler Divergence crazyflie DER Auxetics lasercutter distributed optimization blynk gate von Mises Fisher Distribution pushing problem experiment results or nodemcu offline reinforcement learning exam research proposal conference object detection simulink webots project management modeling contacts tutorial thrust IR motor configuration integration test localization UAV legs joystick altimeter decentralized ros2 balloon test painlessmesh mesh networking swarm vision processing arnhold matlab RL fusionbot arduino nano PCB gazebo rviz2 multi-agent path planning rssi python Integrated Demo reinforcement learning; slam; paper review trajectory optimization Short Post edg-examples serial monitor Q-Learning Machine Learning quasi-static pushing controls feedback-controlled grant system ID Model-Free writing nonholonomic systems multirobot system signal strength marginal cost pricing range IROS neural network hot plates cell reinforcement learning; multi-agent; mean-field; game theory; mean field; reinforcement learning current reinforcement learning; multi-agent; Xbee Zigbee robot compiler origami robot deployment spi dynamic modeling rhino boat literature review multipack buoyancy equations contact surp paper review Writing motorized boats throughput in-situ design surfaces vision kinematic_model ML release power detectionrate distance shape color edg-ide pain Characterization tool concept surface contact liquid crystal elastomer conferences solar cars pivoting peripheral device keyboard swarm control car von Mises-Fisher von Mises Fisher port-array quasi-static modeling Kalman Filter Zero Elastic Energy modes Liquid Crystal Elastomers Discrete Elastic Rods differential structured field multi-agent path finding debug Learning elastic polymers reservoir computing 2.4 GHz 433 MHz creative Computer skill internal misc edg-refactoring 433 ceres 3D-CHESS; steering coriolis force dynamic model proposal wtf deep learning interpolation wireless signal strength reinforcement learning; multi-agent; decentralized reinforcement learning; multi-agent; mean-field; stationary demo video flytrap papers plastic multi-object tracking pvdf prelab actuation von Mises Distribution Barycenter Multi-Agent Systems integration flapping color_segmentation center of friction lab_data result segmentation on multiple object and centers finding competition ZMP buoyancy current sensor multiple blimps battery pid defender Synthesizable Radio integrated system 3d printing catching mechanism kalman filter barometer detection balloon slam; flowchart; depth estimation grid chiral square unit cell state space multi-robot pressure distribution model prediction thrust configuration kalman filter; ESP32 paper cutter COVID 19 manipulation fabrication code hardware offline Rl firmware protobuf #activecapturingmechanism #claw ensemble methods Bayesian networks 3D-CHESS; kalman filter bootstrapping model-based RL boxboat tracking lift force cad nylon scenic adaptive control motor driver MIMO communications Euler-Bernoulli beam newton's method spring-mass submission kalman filtering point cloud 2.4ghz latency der codesign sma-based actuator presentations machine training cameras preliminary exam multiple devices inkscape material delta tolling semantic segmentation instance segmentation pdms silicone optitrack multirobot solidworks ICLR design tool board design HDL pixracer pixhawk ardupilot flight controller regression fly test motor distribution Python DNN ICRA game theory ICML guassian processes probabilistic neural networks graph generators MBRL ide batch learning ros sensor fusion von Mises-Fisher Distributions edg-compiler Bessel functions Consensus Algorithms