05 Aug

Objective: Find a way to map 3D gesture geometry to 3D object geometry Find a set of parameter to represent 3D geometry for the mapping The reason to use parameters to represent, pass and map 3D geometries: The number of parameters is limited (compare to i.e. vertex number, mesh number, et...

05 Aug

Sampling-based motion planning approaches, such as Probabilistic RoadMap Method (PRM) and Rapidly-exploring Random Trees (RRT) , avoid the discretization problems of graph-based algorithms by randomly sampling the continuous domain. This scales more effectively to high-dimensional problems, but make...

04 Aug

For my latest work, I heavily used CasADi to formulate the stochastic nonlinear optimization problem. Here, I'd like to illustrate several preliminaries and tips that hopefully may be useful for others. CasADi is an open-source wrapper mainly for nonlinear programmings (NLPs), although you can...

02 Aug

This past week, I have been researching different camera modules that can be used on the blimps in the FORAY project. The main challenge when it comes to determining the best camera module for our use case is choosing one that is a light as possible without sacrificing performance capability in term...

31 Jul

Simulink Model I worked on the Coriolis force module in the Simulink model. I wrote the MATLAB function that calculates the Coriolis matrix. With the completion of this module, the dynamic model is now complete. The next target is to complete the aerodynamic model. However, the equations we have...

30 Jul

To complete the CoRL submission, I put all the simulation code here. The simulation code compares 4 algorithms, including EKF, LG-EKF, hybrid representation, and fully circular representation.

30 Jul

For the past week, I mainly worked on the paper revision for the manuscript entitled "Fabrication-aware Design for Furniture with Planar Pieces". This paper was submitted to Robotica and required a major revision. It is very close to finish the revision. I wil add more modifications after receiving...

30 Jul

In this blog post, I explain graph-search based motion planning algorithms, which overlay a grid on configuration space and assume that each configuration is corresponding to a grid node. Then, the robot is allowed to traverse to adjacent grid points as long as the edge between the nodes is collisio...

29 Jul

Background Whole question to solve: How to use 3D gesture to change 3D design parameter Break down to two smaller questions: How to map 3D gesture to 3D object geometry How to determine 3D design parameter from object geometry Challenge Ambiguity in gesture Different designs have diff...

28 Jul

Update: I found a typo in the modeling I presented last week. I has been revised. The new model makes sense by looking at the trends. The model is validated at some extreme situations (e.g. then crease folding angle alpha=180deg). Out-of-plane bending is added to the analysis. So now we ha...