This week, we started writing instructions for the two wheeled robot. While the level of difficulty to build this robot is not substantial, we found it may be a bit much for middle school students to build as their first paper folded robot. Because of this, we decided to start off with something muc...

Creation of robots is quite a time-intensive and challenging task. Using LEMUR's RoCo has now made the process much faster, simpler and cheaper. The goal of this project is to make use of this easy process to introduce robotics and teach basic Math and Science lessons to young middle school studen...

This week I worked on analyzing the strain of supercoiled polymer(SCP) actuator of a new nylon string. By using various weights and current during annealing process, I found that the strain during annealing process is about 10-15%. However, after annealing, the strain significantly reduces. In the n...

Below are the graphs describing the relationships between time and the displacement of the midpoint of the bistable beam, assuming a quasi-static state of the beam. More explanations are needed, and we need to vary some of the parameters to see how they affect the shape of the graph.

Last few days, we tried to use a 'new' thread to fabricate our SCP actuator. The most difficult part is that the mechanical propoties are so different from the previous thread though they have the same product number and came from the same retail. We ran a lot of tests to reset the coiling and annea...

Here is the video demo showing using data collected by ros packages(aruco-detect aruco-record) transfer to CoLo to perform localization using measurement data only(algo: EKF) Note: the groudtuth file and odometry file are unreliable aruco_colo_demo.mp4 aruco_colo_phy_demo(1).mp4

While technology has for the most part completely integrated itself into our daily lives, robots have not for many reasons. Robots are complicated, expensive, and require great expertise to design, but if all of those could be eliminated, there could be an increase in robots seen in everyday life. B...

For the past six weeks I've been working on the Random Dataset Generation for CoLo, our multirobot localization simulation for localization algorithm development. The dataset generated is built to resemble in form the UTIAS Multi-Robot Cooperative Localization and Mapping Datasets, which CoLo uses...

The dynamics for single motor flyer in 3D space is very similar to the one for four-motor drone system. The main difference is that for the single motor system, only one propeller is rotating. Basing on the simulation for four motor drone, a new matlab simulation was created to describe the behavior...

The control loop has been implemented in Simulink. The physics and attitude controller are yet to be finished.The total required thrust comes from two sources: the thrust from the position controller and the thrust required for the attitude controller. The following image shows the control loop in S...