03 Feb

Foray - IROS paper system overview

Zhaoliang Zheng

The design parameters space: The performance evaluation system and performance:

02 Feb

FORAY - voltage - thrust plot with different motor + propeller combination

Zhaoliang Zheng

This week, I've tested the different relationship between voltage -thrust with different motor + propeller combination. The different motor+propeller combination is shown as follows: (1) Propeller forward turning vs. Propeller reverse turning (2) Propeller forward turning vs. Propeller rev...

01 Feb

FORAY - Monocular Depth Estimation

Parth Agrawal

I reimplemented the Gtech paper for primitive monocular depth estimation. It works relatively well but requires a certain measurement of the object before the estimation. Reference - N. Yao, E. Anaya, Q. Tao, S. Cho, H. Zheng and F. Zhang, "Monocular vision-based human following on miniature robot...

01 Feb

FORAY - Pipeline for running model on Laptop

Parth Agrawal

To explore another method for object detection, I have built the pipeline to stream the video feed from the camera to the laptop and run the model on the video stream. Therefore, we now have the functionality to use any ML / neural network model for object detection Github Repo - https://github.co...

01 Feb

FORAY - On Device ML

Parth Agrawal

I explored the idea of running object detection on the microcontroller itself. I explored the following libraries – Tensorflow Lite ESP WHO Eloquent Conclusion – I found the TensorFlow lite library extremely unstable. There are many bugs in the repo. I was not able to build a single exampl...

01 Feb

FORAY - Thoughts about ball gripper

Zhaoliang Zheng

Based on the new rule: No use of adhesives for capturing game balls. We now need to design a ball capture mechanism without using adhesives. Some requirement about this capture mechanism: Functionally, it should be able to easily catch and release the ball From design aspect, it should be l...

28 Jan

FORAY - Theoretical analysis and discussion about weight distribution

Zhaoliang Zheng

This week, the research question that we are trying to explore is what is the impact of weight distribution on performance. The theoretical analysis is as follows: One of the impact is that weight distribution will change the line of action of the force, and also will change the cross-section-are...

28 Jan

FORAY - Pixhawk Feasibility and Challenges

The micro-UAV flight control problem has been addressed by many researchers. Good open-source flight controllers including those based on the popular PX4/Ardupilot platform are also readily available. We decided to try to control our blimp with Mini-Pix, a flight controller born out of the PX4/Ardup...

25 Jan

FORAY - Experiment on thrust

Zhaoliang Zheng

Last week, I setup a system to verify the mapping between thrust and voltage. The experiment setup as follows: Materials:digital scale, 3D printed stand, motors, propellers, NodeMCU 8266, breadboard, Dupont wire, motor driver A schematic diagram of measuring thrust generated by motor propelle...

25 Jan

Perception/Localization Setup with Crazyflie

Ethan Uetrecht

I followed the following tutorials to get a crazyflie quadcopter set up and tested: https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/ https://www.bitcraze.io/documentation/tutorials/getting-started-with-expansion-decks/ https://www.bitcraze.io/documentation/tu...

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