20 Feb

This week I was mainly surveying on puplications for recursive EM methods (not restricted to SLAM) in various applications, which is listed below: (1) Online EM algorithm for latent model This paper is more like a tutorial on how to use recursive EM algorithm to estimate parameter and update latent...

20 Feb

This week, I finally prototyped a monostable beam and its testing frame. The monostable beam was cut out from PTFE plats by a laser cutter. The cutting by a laser cutter was pretty precise and the shape of the monostable beam was almost the same as its original design. After the cutting process of t...

15 Feb

This week we successfully performed the autonomous hovering of crazyflie. The details of the process are mentioned in this file , which is the continuation of "Installing ROS packages on Ubuntu" that I posted earlier. Here is a short demo. Next week we will use external position publisher to set...

14 Feb

In CoLo, there are two options for communication in CoLo-AT: real-world data or simulated data. Users will use the Communication Controller (C-C) to define a communication scheme and output the index for the sender and the index for the sender at the time step. For real-world data. the Dataset Man...

13 Feb

This week I have been debugging blocks other than the attitude controller. After finding a transformation from the body frame to the control frame, new matrices from linearization is generated. However, because the rotation matrix from the original paper is unknown, it is not possible to directly co...

13 Feb

After long time debuging for the Latex code of our paper, I finally submited our paper, titled "Analytical modeling for rapid design of bistable buckled beams", to arXiv. Hopefully the paper will be released at 14th Feb. online. After finishing submission to arXiv, we will continue to revise the p...

13 Feb

Progress of this week:a. figuring out why multiple faces on one edge would failI tried to figure out why current Roco does not allow multiple faces on one edge. After a closer analysis, it actually allows that. The issue is that when we perform connect((faceA,edgeA),(faceB,edgeB)), Roco would...

13 Feb

After revising our requirements, we decided that in addition to the received signal strength, we also needed to collect information on the link quality in order to better characterize the connection between two devices. Link quality is an important measure that indicates whether or not a message se...

07 Feb

Before starting experiments of prototyping of mechanical oscillator, I wrote a Pre-Lab in order to clarify the purpose and method of experiments and perform experiments efficiently. I also figured out the plan of experiments in this quarter with this Pre-Lab. From now on, based off this Pre-Lab, I...

06 Feb

This week I reevaluated the linearization script I wrote last quarter. I modifed the script so that it uses the simplified dynamics of the quadcopter model (ignoring the angular acceleration and the moment of inertial of the propeller) LInearization Simplified Plan.pdf