28 Jul

Last week, the engineering effort was focused on setting up the hardware and building the blimp and any other required electronic components. Initially, we couldn't set it up using the balloon that we bought from Amazon, so we had to reuse the blimp that was used in the previous tournament. Due to t...

12 Jul

First, the camera detected all the blobs of within the camera frame. The color along with its horizontal and vertical position are encoded into a 7-character string, which is then sent to the feather board using the i2c protocol. the feather board iterates through list of string. If the color code m...

07 Jul

In order to automate the blimp, we need to consider the problems that we need to solve. By doing research in the behavior of previous manually-controlled blimps and understanding the challenges that the blimp might face to achieve its goal of collecting the green balloons, a function block diagram w...

28 Jun

The general idea of the blimp autonomy is that the controller that we are using for the blimp will receive multiple inputs which will determine how the blimp is going to move. On a high level, the camera detect the objects like the green balloon, opponent's blimp, and the goal post. That, along with...

25 Jun

Dash I worked with the team of undergrads to develop this initial list of requirements for the dashboard. It's based on the kinds of experiments we plan to run and what kinds of data will be relevant. Of course, this is a preliminary list only, but I've specified that we will use modular design so...

23 Jun

Last weekend, I manufactured a PE balloon envelope. Here is the manufacture process: The PE balloon after inflated: The total lifting capacity is about 41 g. The total weight of the electronics of the control and sensing part is about 27g:

02 Dec

This past week, I focused on improving upon the altitude filtering algorithms I had tested previously for the blimps on FORAY. The previous two algorithms I had implemented (both in arduino and in MATLAB) were a moving average filter and an exponential filter (both first-order filters). Both intro...

27 Oct

Alternative Link Cut time: 8mins Folding time: 2mins Weight: 2.2g

21 Oct

I have spent the past weeks assembling a blimp on which to test a feedback control system to aid in controlling the blimp as well as building said control system. The picture below shows the experimental setup. So far, the blimp is assembled and controlled based on IMU motion. The video below...

07 Oct

This past week I have developed a framework for motor feedback control using IMU (orientation) data. I first wrote scalable motor control software for interfacing with the tb6612. A quick test operation can be seen below. Motor Test: Your browser does not support the video tag. I then integr...