For last week, I made a lot of modification to our mechanical logic design and ran tests. Some issues were solved, such as short-circuit and contact problem. Now, the mechanical logic can snap at the first time, but always stop at the middle point in the way it should snap back. The bistable beam wa...

After struggling with the mathematical formulation of the problem for what has been a long time now, it is finally in a state where it can be converted into code. The importance of not overlooking the accuracy of the math cannot be understated since this uniquely defines the code. Whilst performing...

A Seg Bot in Gazebo This week, I worked on creating a Seg Bot model in Gazebo, the robot simulation engine that we are planning on using for our project. The Seg Bot model was created in the SDF format, an XML file format used by Gazebo to specify physical structures such as robots. The SDF format...

A Builderfile is a sequence of instructions in RoCo that when executed gives a desired output. However, the use of builderfiles can be expanded to support operations, such as copying subcomponents and redoing certain operations in the UI. Data Structure: Since RoCo components are hierarchical b...

We are one more step close to the succeed for our printable autonomous robot. The snap threshold was decreased by modifying the design parameters, such as width of bistable beam. Now it seems it's the right time to build up equation for our mechanical logic to describe its behaviors and furthure hel...

For mathematical simplicity, most dynamical models of traffic systems are examined on ring roads where the last vehicle in a platoon affects the first vehicle as if it was in front of it. Moreover, control systems for autonomous vehicles, such as those proposed by Daniel Work et al., have been exclu...

The past two weeks have focused on finalizing the prelab for the characterization of the aluminum coated plastic in order to see whther we can successfully create traces using this material. We had to analyze what measurements would lead us to the conclusion that the trace patterns are electrically...

In research it is important to have a clear understanding of the problem formulation before looking for a solution. Up until this point the lidar localization problem has not been well defined and this has lead to misaligned interpretations of the research direction. Part of my time this week was...

RoCo's graphical interface can now be used to drive the four wheeled car created by Jack. In order to do this, the user must drag a NodeMCU, 4 Driven Servos, and 4 Constant Blocks into the workspace, and click export to generate a builder file. Then, you plug in the PWM pins into the Driven Servos...

While I am editing the paper, some of the reviews mentioned an important paper, Kalman Filtering With Intermittent Observations. The paper mainly deals with the stochastic nature of observation availability. They derived an expected covariance update, named modified Riccati recursion. However, I...