During this week, like many teams, we dealt with the heavy consequences of CMU’s closure due to COVID-19. For me, this meant figuring out how to re-scope my portion of the project (writing Kalman filters for the IMUs placed on the user’s arm). Although our team decided to keep the Read more…
In this past week, I have had had several items to focus on. The immediate priority coming out of last week was to prepare for my design review presentation. Then as soon as that ended, my focus shifted to implementing the Kalman filter and running various sanity checks on the Read more…
The team’s focus this week was on determining the necessary variables towards creating a comprehensive design document. Daniel focused heavily on the specifics of the Kalman filter, Luca spent his time learning how the IMUs work and how to extract data from them and Hana looked into the specifics of connecting Read more…
This week, I focused mainly on determining the specific requirements of implementing a Kalman filter for our IMU data. I looked exhaustively both at articles explaining the functionality of the filter and at possible existing libraries that I could base an implementation off of. What I learned is that the Read more…
This week, I focused on two main issues: deciding on which omni-wheel chassis to use and narrowing my research on how to extract position from IMUs. For the omni wheel decision, Luca and I met with Professor Mukherjee and eventually decided on a 4 wheel chassis from Moebius. I’m currently Read more…