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...

24 Sep

In order to improve the inertial measurement capabilities of the blimps on the Foray project, I have been working with Zhaoliang to implement various filtering algorithms for the altimeter data we collect. So far, I have used Matlab to create both an exponential filter and a moving average filter....

21 Sep

This week I conducted the test simulating a single blimp in the competition capturing the ball and send it to the goal. The components in the test are not exactly the same as what will be used in the competition, however, it is still a good test to show the capability of the blimp. here is the v...

16 Sep

Knowledge of a lighter-than-air vehicle's orientation is an essential initial step in ensuring stable operation. I have been working on implementing a sensor fusion system for the blimps on the FORAY project. The current implementation uses a 6-DOF IMU, the MPU6050. The experimental setup can be...

16 Sep

The problem of air leakage is a problem that every balloon has to face. We need to know and understand the air leakage situation of the blimp that we are going to use in the future. The following two pictures are situation of balloon in day 1 vs. day 28: I recorded some data in the past 28 day...

13 Sep

In the previous test, the result shows that the turning ability of the configuration used for the shark robot is not good. The reason is the turning torque generated by two motors located beneath the balloon is not large enough. Therefore, in this test, I put the motors on the side of the balloon...

12 Sep

This week I managed to integrate the system of the blimp and conducted a flying test. 1. System Overview Micro controller: NodeMCU ESP8266 board Motor driver: TB6612 Motor: 53,000 rmp motor Propeller: 65mm propeller Gondola: 3D printed Sticking method: Hook and loop tape 2. Control...

10 Sep

We designed a reconfigurable gondola and motor beam that could allow us to test different thrust configuration efficiently. Here are two examples: The different configuration that we would like to test: (The following figures are all top view) The research questions that we want...

01 Sep

During the blimp WIFI manual control experiment, I noticed some interesting phenomena. Even the following experiments are just some failure examples, I still can learn something from it. Failure experiment 1: The reason the balloon hit the wall was because human operational mistakes. When you...