17 Jul

The goal of this investigation was to figure out how feasable it would be to allow real time input gathering without the use of any external sensors. My initial attempt was the use the change in resistance from placing a finger on the conductive material, however I was not successful as the change s...

17 Jul

SEtup the system with roomba running while motive is capturing the motion of roomba. We can see it's precisely capturing the motion. Next task for me is to create a stage for roomba operation and capturing the motion with 3D map. We decided to do this on weekend since we need to turn off most of the...

16 Jul

This is a SLAM performance analysis. I compared our OEM-SLAM with other three state-of-art SLAM algorithms, including EKF-SLAM, fast-SLAM and graph-SLAM. The first figure is localization error and the second figure is mapping error.

15 Jul

Our goal last week was to convert the boat chassis from an origami structure to a 2D template that was designable on RoCo. The template still needs to be made of one uncut sheet, like origami, so that water can't leak in through edges, but it can be folded from shapes other than a square. The first...

15 Jul

Boat 7 was created using a template that we made based on the structure of Boat 6. Our goal with this boat was to get an idea of the template we would use in RoCo. We also made new paddle wheels using hexagons instead of circles to simplify construction. Boat 7 was faster and went straighter than Bo...

12 Jul

I was able to figure out how to make the Roomba travel along the circumference of a circle or arbitrary size. It turns out that my issues with accuracy and consistency of control inputs were due to scaling of the linear and angular velocity commands. During a test trial, Xin and I found that even t...

11 Jul

As part of the trace through of Colo-AT (primarily the Simulated Dataset Manager), one of the issues that arose was the proportionality of the RMS to measurement distance. In other words, as the distane between the robot and the landmark it was measuring increased the assosciated error in estimating...

10 Jul

In the process of finding the registers that are associated with the individual values of the SPADs, first I created a table which lists all the indexes associated with the internal registers of the VL53L1X. A total number of 4096 indexes were captured and classified with the similar classification...

10 Jul

Xin and I have figured out how to control and program the Roombas, so that is good. What is not good is that our programs seem to be inaccurate. The inputs that the Roomba reads are linear and angular velocity, in M/s and Rad/s. We wrote a program to simply create a spiral, which is a popular and si...

10 Jul

On the third week of my summer research project I began to get familiar with the ESP8266 module. The ESP8266 has similar capabilites to other microcontrollers like Arduinos and Raspberry Pis, but this module has bluetooth capabilites which makes the task of controlling a Foldable Boat versatile acro...