An example of tabs in a 2D geometric unfolding This quarter, my main goals are finishing up my research with RoCo (Robot Compiler), and planning and starting a new research project in a new area. After working on RoCo for the past year, the project has grown considerably, and new team members wi...
This week I worked on fixing and documenting bugs in RoCo to prepare it for an upcoming handover to a new team. I will be moving on to a new project later this quarter so in addition to working on RoCo, I performed a literature search for the current state of the art of reinforcement learning and le...
I primiarily did paper survey on the papers following Diffusion Kalman Filter, in order to characterize its performance in the persecptive of network topology. On the way of surveying, I found that there are two main research groups in this field. The first on is lead by Dr. José M. F. Moura. One...
Last week, I added more features into our mechanical logic II design. First of all, stiffening edges are employeed to increase the stiffness of the whole structure. Also, this feature somehow improved our mechanical logic's stability. Then a ventral frame was created to boost its stability and flatn...
We have a new machine in our lab! It is a laser cutter, which can be employed in both carving and cutting works. This laser engraver is equipped with one 40W water cooling laser tube, high precise stepping motors, high quality control board. It employs an USB port and thus can be connected to your l...
Research on how to measure/estimate reaction torque In addition to thrust force, a spinning propeller will also introduce reaction torque onto system. According to paper [1], there is a strong linear relationship between a propeller’s reaction torque and thrust force. Once this relationship is fou...
Making SCP Actuators.pdf Final_Coil_Insertion_Code.ino
The following is a short overview of the process by which the characteristic velocity of the vehicle is determined from local information. Let \(v(t)\) be the velocity of the vehicle at time \(t\). In the presence of traffic jams, \(v(t)\) will be wave like. A sample of different possible solu...
Simulate Motor Thrust in Simulink On Crazyflie, the spinning of motor and propeller will introduce a thrust onto the system. According to Crazyflie Wiki page (https://wiki.bitcraze.io/misc:investigations:thrust), the relationship between the motor spinning speed (rpm) and the thrust force (g) can...
This week, the new design of mechanical logic was created and prototyped. The new mechanical logic employs bistable beam structure to function as switch. In this manner, the reliability and assemblability of the structure are greatly improved. By the way, it just needs 20 mins to finish the assemble...