14 Sep

Linearization of plate theory (4th order) for polygons (any amount of edges), with random tranverse loading Given a random polygon, I first devide it into rectangulars. Then I label points at intersections. Each unit is made out of four rectangulars, centered at each point. Each unit will...

13 Sep

In the previous test, the result shows that the turning ability of the configuration used for the shark robot is not good. The reason is the turning torque generated by two motors located beneath the balloon is not large enough. Therefore, in this test, I put the motors on the side of the balloon...

12 Sep

This week I managed to integrate the system of the blimp and conducted a flying test. 1. System Overview Micro controller: NodeMCU ESP8266 board Motor driver: TB6612 Motor: 53,000 rmp motor Propeller: 65mm propeller Gondola: 3D printed Sticking method: Hook and loop tape 2. Control...

11 Sep

I have been working on brainstorming and prototyping different methods that enable the fleet of blimps the FORAY team is developing to corral a balloon and score it in the appropriate goal. Some factors I need to take into consideration includes the weight of the mechanism, whether we want a passive...

10 Sep

Goal It is common to test and to compare algorithms on synthetic data. Some properties might be more noticeable when we can control the data generating process. In addition, it also helps debugging. Forster et al, IEEE Trans. on Robotics, 2017 Sjanic et al, IEEE Trans. on Aerospace and Elect...

10 Sep

We designed a reconfigurable gondola and motor beam that could allow us to test different thrust configuration efficiently. Here are two examples: The different configuration that we would like to test: (The following figures are all top view) The research questions that we want...

10 Sep

For explicit-landmark optimization-based SLAM systems, the skeleton of SLAM backend can be considered as a nonlinear least-squares optimization problem, or \((\hat{s}_{1:n}, \hat{\lambda}) = {arg\,min}_{({s}_{1:n}, {\lambda})}\, \sum_{t=0}^{n-1} \| s_{t+1} - f(s_t, u_t) \|^2_{Q} + \sum_{t=1}^n \| o...

09 Sep

I determined the change in the signal strength of the network due to metal interference. I used the same setup as the previous experiment. Received Signal Strength Indicator (RSSI) was used as a metric to measure signal strength. ESP32 WIFI (2.4 GHz) A point to point connection was established u...

09 Sep

I've integrated all the components and tested the manual control. The necessary components for manual control are: Control board: NodeMCU Motor driver: tb6612fln Motor + 55mm propeller 1000 mAh 3.7v Li-po battery This hardware configuration allows the blimp to perform these operations...

08 Sep

Project goal: design toolbox An example design paradigm (Library #2) is shown below, with all edges simply-supported and distributed load across the entire top surface as an example. This week I have been searching existing methods/solutions for calculating reaction load on edges of a plat...