18 Apr

Time Multiplexing and NTP

Ben Limpanukorn

The RFM69HCW radio modules that we plan to use for CoLo PE are only capable of half-duplex communication, meaning that it can either transmit or receive packets but not both at the same time. In a typical setup, this issue would be addressed by either setting the modules to automatically retransmit...

18 Apr

New Definitions of Snap-through?

Yunchen (Blaire) Yu

Based on what happened in the experiments, we found that there may be some other definitions of snap-through other than reaching the critical switching point, depending on whether the system is under force control or displacement control. For this reason, new model of the mechanical logic system mig...

18 Apr

New design to improve the robustness of ML

Wenzhong Yan

The previous design of mechanical logic has rather low fabrication tolerance, though it works. Here, in order to improve its error tolerance, I created a new desgin with switches on the bistable beam. Theoretically, this design also has much high robustness. I will test this design and run debugging...

18 Apr

Neuroscience inspired AL

Tsang-Kai Chang

This paper reviews several implementations in artificial intelligence that have neuroscience correspondence. The most robotics-related one is the neuro-replay. In RL, especially navigation related tasks, the performance will be better if the agent stores a certain amount of raw data. The data will b...

18 Apr

EM-SLAM with improved direct observation and range bearing observation

Chaojie Feng

Improved algorithm with direct observation: Debugging on why range-bearing measurements failed: Attempted algorithm with range-bearing (perfect rnb observation, noisy time update): Attempted algorithm with range-bearing (noisy rnb observation, perfect time update): Still, problem...

18 Apr

Current Implementation of Offset Connection and Potential Issues

Dawei Zhao

Current Progress on Offset To date, the offset connection is able to build a multi-level bookshelf with all finger joints properly added on all edges. This bookshelf would be buildable with lazer cutter and wood. The current implementation is based on the original addConnection() function. I add...

11 Apr

Model of Mechanical Logic in Motion

Yunchen (Blaire) Yu

Last quarter I finished building the model of the oscillation period of the mechanical logic in one single snap-through motion. This week I studied the periodic motion of the system and found that as the oscillation becomes stable, the oscillation period tends to decrease over time before converging...

11 Apr

EM-SLAM with direct observation

Chaojie Feng

For previous two weeks I was building up the framework of EM-SLAM. The framework is showed as following: And as well as the demo by using direct observation (states can be directly observed with gaussian noise): This demo works properly as expected (although there are some discrepency betwee...

10 Apr

Returning to PowerAPI

Ben Limpanukorn

Returning to the problem of measuring the cost of different operations for robot localization, I revisited the Spirals research group's PowerAPI toolkit for software power meters. In the time since I had last used PowerAPI, it appeared that the research group had discontinued development of the too...

09 Apr

Crazyflie Figure 8- Open House special

Amirali Omidfar

Here's an additional Figure 8 performance done by adding flow deck to our lovely crazyflie. Crazyflie wishes you a happy demo day :) Link to the demo

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