*Jan*

This week I wrote codes that can help design the bistable beam-CSCP actuator system under certain contraints (e.g. oscillation frequency). The way my codes work reflects my flowchart last week. Since there are a lot of possible combinations of design parameters that may make the mechanical logic o...

*Jan*

To debug what causes the divergence of EM-SLAM algorithm, I Separated E-step and M-step. To prove M-step is correct, every time I will feed a true Q-function from E-step to M-step. i.e. x=x_true, P=0. (Note in general, Q-function contains trajectory information and it is always estimated in E-step)....

*Jan*

For the first part of this week, I read Wenzhong's research proposal and got an understanding of general ideas behind this project. For this quarter, my subtask of this project is trying to solve : (1) Multiple faces on one edge, so that the project can build furniture with nultiple levels, such as...

*Jan*

I keep revising our paper for the pasting week. Especialliy, we added a figure to demonstrate the snap-through properties of bistable buckled beams and corresponding critical behavioral values (i.e. critical force, critical displacement and travel) ,as shown below. Also, I finished first draft of...

*Jan*

We studied the paper “A solution to the simultaneous localisation and mapping (SLAM) problem” together this afternoon, and I found out several serious concern about this seminal paper, who has more than 3000 citation. The paper gives 3 main theorems for the extended Kalman filter (EKF) formulation...

*Jan*

Autonomous Hovering of crazyflie using ROS and Optitrack: As a means to get position data from Optitrack on the Ubuntu server controling the hovering of the crazyflie We are using the vrpn_client_ros package: Since it is a new package we modified the launch file from whoeing's repository he...

*Jan*

Last week, I simulated mechanical behaviors of monostable beam and CSCP actuator respectively to design a prototype of mechanical oscillator. This figure shows switching force of monostable beam as a funtion of initial rise and thickness of monostable beam. From this figure, we can find how much for...

*Jan*

I wrote an algorithm that can calculate the optimal design parameters of a bistable buckled beam under some given constraints. The calculated parameters are expected to not only satisfy the constraints, but also make designing easy.

*Jan*

For the passing week, I ran the FEA simulation for the bistable buckled beam. This FEA simulation fuctions as the reference of our analytical model to valide its feasibility. The main result and analysis will be added into our paper. For the following week, Blaire and I will continue to revise the p...

*Jan*

This is a screenshot of my EKF-SLAM code as it is right now. The blue line is the EKF estimate while the red line is the true trajectory. I took inspiration from https://github.com/lucarinelli/EKF_localization_python/blob/master/EKF_localization.ipynb and https://github.com/AtsushiSakai/PythonRobo...