This week, our team updated our plans and Gantt chart for the remainder of the semester and began implementing the Kalman filter head on. Immediately running into issues related to bias drift, we are currently trying to resolve these issues with calibration and adjusting the Kalman filter accordingly. We are Read more…
I started the week by completing the Kalman filter tutorials I was planning on doing. I finished watching all the Michel van Biezen Kalman Filter tutorial videos I mentioned last week (https://www.youtube.com/watch?v=CaCcOwJPytQ&list=PLX2gX-ftPVXU3oUFNATxGXY90AULiqnWT&index=1) and also went over the Kalman filter code on GitHub that Dan initially used as a template for Read more…
Because of the COVID-19 outbreak, we now need to work on the project remotely. As a result, I spent my time this week working with my teammates to rescope the project. We have decided to keep the IMU I2C circuit component on the arm and to simulate the rest of Read more…
This past week, we’ve been navigating the transition to a design and simulation based project. We’re still working out a few of the details, but we’ve largely pinned down a final direction. The three of us will be working in conjunction on receiving data from the IMUs on the user’s Read more…
This past week has been a tumultuous one. Together we’ve been trying to figure out the best way forward. I was saddened to find out that we won’t be able to build the robot anymore, especially since even though that was one of my smaller parts, I was really looking Read more…
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…
This week I was primarily on spring break but in my free time I did more research about integration the Jetson with the Photon. I was able to find some sample code for both sending and receiving data between the two modules, and I have been looking at personalizing it Read more…
This week, I determined that we will be using C++ to program the Jetson Nano. The reasons for this are the following: -C++ is compatible with the Jetson Nano -C++ is the language used to program the Particle Photon so this would make the networking between the devices easier -C++ Read more…
This week, Dan presented our Design proposal and we received feedback on the design. Overall, the feedback focused on future calibration issues and a need for more quantifiable testing methods. We are working to incorporate said feedback into our design report and are all focused on it, due this coming Read more…
This week I focused on figuring how the Particle Photon will transmit data over WiFi to the NVIDIA Jetson Nano and how the Jetson will control the servo motors in the Moebius omnidirectional wheel base. The Photon and Jetson will be placed on the base, both powered by a portable Read more…