This last weekend, I was finally able to fix the bug that had been eluding me for the past two weeks. Click here to read my previous blog post about this bug. My approach to fixing the bug was to painstakingly keeping track of the reference states of the different variables after each deserializ...

Overall goal of this quarter: Develop a generalized algorithm for creating any type of robot so that the user can input certain requirements and be told exactly how to put together materials to create a robot The upcoming weeks are going to be focused on creating an automated hand. At the end of t...

I spent the majority of this past week debugging a single issue in RoCo. We noticed that when we constrained subcomponent parameters in RoCo and rebuilt the component, the drawing would not reflect the constraint. The representation of the faces in RoCo are parameterized with Variables that define t...

Last week, we finished interfacing Crazyflie 2.0 with ROS, meaning we are able to get sensor data from Crazyflie 2.0 to our laptop by monitoring ROS topic IMU for Crazyflie. What we can get from the sensor is the linear acceleration, angular acceleration and orientation. Furthermore, the pressure se...

The interface without the cutout showing in the 3D view This week was spent trying to work out a lot of the bugs that were discovered last week during the addition of cutouts to the interface. When cutouts were first added, there was a problem with the generation of the 3D view of the component. T...

This last week I worked on improving the android app. The layout that I am planning to implement currently has 4 pages. The first page would be the main menu where the user can choose to connect to the NodeMCU microcontroller either through serial USB or wirelessly using Wi-Fi. If Serial is chosen t...

There are two python files need to be modified or create : Modify Function/est_algo.py #estimation algorithm class used by robot class Create Function/algo_EKF/your_own_algo.py #you own algo class in the correct format the algorithm need to be matched with robot class(centralized or distri...

Over the past week, I worked on getting RoCo's composite code interface working. To do this, I graphically constructed a component that would take input through a Serial port, convert that to a string, and output a signal to a motor based on the contents of that string. I would then try to export it...

I found that the paper, "On the convergence conditions of distributed dyanmic state estimation using sensor networks: A unified framework", proposed the almost identical framework of ours. It should not be surprising, since Covariance Intersection can be naturally integrated in Kalman filter. Howeve...

For last week, I designed new pattern to allow easily adjustment of the distance between bistable beam and contact tab. I made one model for this design. And the feasibility was verified. I also manufactured many SCP actuators and assembled them into our ML II to test the functionality. As mention...