02 Nov

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

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...

01 Nov

The main paper we reviewed is the Probabilistic Data Association for Semantic SLAM It depicts a promising vista about the probablistic semantic slam. Primarily proposed an EM mathematical framework to consider the detection probabilistic, and using iterative multiply probability way to bring in f...

28 Oct

Here is the prelab for the competition in November. link

27 Oct

Alternative Link Cut time: 8mins Folding time: 2mins Weight: 2.2g

27 Oct

Different configuration that I have tested: 4 motors configuration 2 motors + 1 fin configuration 2 motors + 1 fin configuration What is needed for the next step: origami gondola origami motor holder 3D printed motor holder:

26 Oct

There are several works that somehow deal with the expensive computation time for edge evaluations in graph-search planning algorithms. Here I explain one of the state-of-art algorithms to deal with this problem, which is lazy weighted A* (LWA). LWA works as follows. First, LWA assumes that the tr...

26 Oct

For 3D navigation systems, representing the orientation is always annoying. After going through several painful learning and debugging processes, I share some lessons that I learned. The quaterion parameterization There are several ways to represent a 3d orientation. In real system, everyone pre...

21 Oct

I have spent the past weeks assembling a blimp on which to test a feedback control system to aid in controlling the blimp as well as building said control system. The picture below shows the experimental setup. So far, the blimp is assembled and controlled based on IMU motion. The video below...

21 Oct

Specifications of the system - Blimp with 2 motors used for horizontal propagation connected to ESP32 microcontroller (Slave Device) NodeMCU with ESP 8266 acting as the master device 2.4GHz with ESP Now protocol is used for communication between the 2 devices A joystick controller is used...