27 Oct

FORAY - Different Configuration test

Zhaoliang Zheng

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

Lazy Weighted A*

Yuki-shirai

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

Some lessons from implementing optimization over SO(3)

Tsang-Kai Chang

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

Blimp Orientation Control with IMU

Ethan Uetrecht

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

FORAY - Integrated System ( Joystick Controller + 2.4 GHz Communication + Motors)

Parth Agrawal

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...

21 Oct

FORAY - Controlling Multiple NodeMCU using Controller

Parth Agrawal

This experiment demonstrates that by using ESP Now protocol we have the capability to control multiple blimps from a single joystick controller. We can switch between different control modes at the click of a button. In the following video - 1 ESP32 microcontroller is connected to the motors. 1...

21 Oct

Demo Plan

Chang Liu

Gripper definition: G1: simple gripper, no stiffener mechanisms added (failed) G2: optimized gripper, with stiffener mechanisms added (success) G3: over-weight gripper, with heavy-stiffener mechanisms added (failed) Videos: 1.a. G1, close view, clamp on bar, close 1.b. G1, whole view (wi...

19 Oct

Customization of printed batteries

Wenzhong Yan

How to customize batteries according to your requirements? It is very challenging to design a battery to satisfy specific loading. For example, you may need to have a battery that can outup certain current when connected to an electric-driven actuator with a certain resistance. Similarly, for our pr...

19 Oct

FORAY - fin control

Zhaoliang Zheng

In this experiment, we want to control vertical manuver the balloon of by controlling the fins. We took the fin control part of air swimmer clownfish balloon and integrated into our system. In the following video, we showed how to improve and integrate the fin controller into our system step b...

19 Oct

Overview of okvis

Tsang-Kai Chang

It took me a while to really understand the structure of the okvis SLAM system. In order to prevent from studying its structure all over again, it is better for me to put down what I understand so far. The main goal of this post is to bridge the gap between the theoretical understanding and the so...

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