CoLo, a cooperative localiztion algorithm evaluation system, is accpeted to the 2019 International Conference on Robotics and Automation (ICRA), which will be held on May 20-24, 2019 in Montreal, Canada!

The following steps are used to update the dynamics of an aerial robot. Calculate the rotation matrix R from the last iteration's Euler Angle θ. Calculate angular acceleration given current force and torque inputs, and the angular velocity from last iteraion. Update angular velocity Calculat...

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...

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)....

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...

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...

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...

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...

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...

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.